Shopping facility assistance systems, devices and methods

ABSTRACT

Apparatuses, components and methods are provided herein useful to provide assistance to customers and/or workers in a shopping facility. In some embodiments, a shopping facility personal assistance system comprises: a plurality of motorized transport units located in and configured to move through a shopping facility space; a plurality of user interface units, each corresponding to a respective motorized transport unit during use of the respective motorized transport unit; and a central computer system having a network interface such that the central computer system wirelessly communicates with one or both of the plurality of motorized transport units and the plurality of user interface units, wherein the central computer system is configured to control movement of the plurality of motorized transport units through the shopping facility space based at least on inputs from the plurality of user interface units.

RELATED APPLICATIONS

This application is a continuation of U.S. application Ser. No.17/346,954, filed Jun. 14, 2021, which is incorporated in its entiretyherein by reference and which is a continuation of U.S. application Ser.No. 16/361,015, filed Mar. 21, 2019, now U.S. Pat. No. 11,046,562, whichis incorporated in its entirety herein by reference and which is acontinuation of U.S. application Ser. No. 15/060,953, filed Mar. 4,2016, now U.S. Pat. No. 10,280,054, which is incorporated in itsentirety herein by reference and which claims the benefit of each of thefollowing U.S. Provisional applications, each of which is incorporatedherein by reference in its entirety: U.S. Provisional Application No.62/129,726, filed Mar. 6, 2015, Docket 8842-134158-US (587US01); U.S.Provisional Application No. 62/129,727, filed Mar. 6, 2015, Docket8842-134268-US (615US01); U.S. Provisional Application No. 62/138,877,filed Mar. 26, 2015, Docket 8842-134162-US (610US01); U.S. ProvisionalApplication No. 62/138,885, filed Mar. 26, 2015, Docket 8842-134209-US(635US01); U.S. Provisional Application No. 62/152,421, filed Apr. 24,2015, Docket 8842-134155-US (608US01); U.S. Provisional Application No.62/152,465, filed Apr. 24, 2015, Docket 8842-134161-US (603US01); U.S.Provisional Application No. 62/152,440, filed Apr. 24, 2015, Docket8842-134208-US (611US01); U.S. Provisional Application No. 62/152,630,filed Apr. 24, 2015, Docket 8842-134249-US (612US01); U.S. ProvisionalApplication No. 62/152,711, filed Apr. 24, 2015, Docket 8842-134269-US(626US01); U.S. Provisional Application No. 62/152,610, filed Apr. 24,2015, Docket 8842-134574-US (623US01); U.S. Provisional Application No.62/152,667, filed Apr. 24, 2015, Docket 8842-134575-US (663US01); U.S.Provisional Application No. 62/157,388, filed May 5, 2015, Docket8842-134573-US (606US01); U.S. Provisional Application No. 62/165,579,filed May 22, 2015, Docket 8842-134576-US (677US01); U.S. ProvisionalApplication No. 62/165,416, filed May 22, 2015, Docket 8842-134589-US(624US01); U.S. Provisional Application No. 62/165,586, filed May 22,2015, Docket 8842-134945-US (732US01); U.S. Provisional Application No.62/171,822, filed Jun. 5, 2015, Docket 8842-134250-US (621US01); U.S.Provisional Application No. 62/175,182, filed Jun. 12, 2015, Docket8842-135963-US (726US01); U.S. Provisional Application No. 62/182,339,filed Jun. 19, 2015, Docket 8842-135961-US (749US01); U.S. ProvisionalApplication No. 62/185,478, filed Jun. 26, 2015, Docket 8842-136023-US(742US01); U.S. Provisional Application No. 62/194,131, filed Jul. 17,2015, Docket 8842-135962-US (739US01); U.S. Provisional Application No.62/194,119, filed Jul. 17, 2015, Docket 8842-136020-US (728US01); U.S.Provisional Application No. 62/194,121, filed Jul. 17, 2015, Docket8842-136022-US (740US01); U.S. Provisional Application No. 62/194,127,filed Jul. 17, 2015, Docket 8842-136024-US (743US01); U.S. ProvisionalApplication No. 62/202,744, filed Aug. 7, 2015, Docket 8842-135956-US(764US01); U.S. Provisional Application No. 62/202,747, filed Aug. 7,2015, Docket 8842-136021-US (734US01); U.S. Provisional Application No.62/205,548, filed Aug. 14, 2015, Docket 8842-135959-US (751US01); U.S.Provisional Application No. 62/205,569, filed Aug. 14, 2015, Docket8842-136123-US (680US01); U.S. Provisional Application No. 62/205,555,filed Aug. 14, 2015, Docket 8842-136124-US (741US01); U.S. ProvisionalApplication No. 62/205,539, filed Aug. 14, 2015, Docket 8842-136651-US(919US01); U.S. Provisional Application No. 62/207,858, filed Aug. 20,2015, Docket 8842-136508-US (854US01); U.S. Provisional Application No.62/214,826, filed Sep. 4, 2015, Docket 8842-136026-US (746US01); U.S.Provisional Application No. 62/214,824, filed Sep. 4, 2015, Docket8842-136025-US (744US01); U.S. Provisional Application No. 62/292,084,filed Feb. 5, 2016, Docket 8842-137833-US (925US01); U.S. ProvisionalApplication No. 62/302,547, filed Mar. 2, 2016, Docket 8842-136125-US(748US01); U.S. Provisional Application No. 62/302,567, filed Mar. 2,2016, Docket 8842-138040-US (731US01); U.S. Provisional Application No.62/302,713, filed Mar. 2, 2016, Docket 8842-137834-US (932US01); andU.S. Provisional Application No. 62/303,021, filed Mar. 3, 2016, Docket8842-137831-US (636US01).

TECHNICAL FIELD

These teachings relate generally to shopping environments and moreparticularly to devices, systems and methods for assisting customersand/or workers in those shopping environments.

BACKGROUND

In a modern retail store environment, there is a need to improve thecustomer experience and/or convenience for the customer. Whethershopping in a large format (big box) store or smaller format(neighborhood) store, customers often require assistance that employeesof the store are not always able to provide. For example, particularlyduring peak hours, there may not be enough employees available to assistcustomers such that customer questions go unanswered. Additionally, dueto high employee turnover rates, available employees may not be fullytrained or have access to information to adequately support customers.Other routine tasks also are difficult to keep up with, particularlyduring peak hours. For example, shopping carts are left abandoned,aisles become messy, inventory is not displayed in the proper locationsor is not even placed on the sales floor, shelf prices may not beproperly set, and theft is hard to discourage. All of these issues canresult in low customer satisfaction or reduced convenience to thecustomer. With increasing competition from non-traditional shoppingmechanisms, such as online shopping provided by e-commerce merchants andalternative store formats, it can be important for “brick and mortar”retailers to focus on improving the overall customer experience and/orconvenience.

BRIEF DESCRIPTION OF THE DRAWINGS

The above needs are at least partially met through provision ofembodiments of systems, devices, and methods designed to provideassistance to customers and/or workers in a shopping facility, such asdescribed in the following detailed description, particularly whenstudied in conjunction with the drawings, wherein:

FIG. 1 comprises a block diagram of a shopping assistance system asconfigured in accordance with various embodiments of these teachings;

FIGS. 2A and 2B are illustrations of a motorized transport unit of thesystem of FIG. 1 in a retracted orientation and an extended orientationin accordance with some embodiments;

FIGS. 3A and 3B are illustrations of the motorized transport unit ofFIGS. 2A and 2B detachably coupling to a movable item container, such asa shopping cart, in accordance with some embodiments;

FIG. 4 comprises a block diagram of a motorized transport unit asconfigured in accordance with various embodiments of these teachings;

FIG. 5 comprises a block diagram of a computer device as configured inaccordance with various embodiments of these teachings;

FIG. 6 illustrates a simplified block diagram of an exemplary shoppingfacility management system for use in determining a location of aself-propelled motorized transport unit and/or other objects within ashopping facility, in accordance with some embodiments.

FIG. 7 shows a simplified block diagram of an exemplary locationcontroller in accordance with some embodiments.

FIG. 8 shows a simplified block diagram of an exemplary motorizedtransport unit, in accordance with some embodiments.

FIG. 9A shows a simplified overhead view of an exemplary layout of ashopping facility with multiple shelves and illustrating an exemplarylight pattern from light sources, in accordance with some embodiments.

FIG. 9B shows a simplified overhead view of an exemplary layout of ashopping facility with multiple shelves and illustrating an alternativeexemplary light pattern, in accordance with some embodiments.

FIG. 10 illustrates an exemplary motorized transport unit positionedproximate a movable item container, with a machine readable code readerof the motorized transport unit detecting a first machine readable code,in accordance with some embodiments;

FIG. 11 shows a simplified block diagram of an exemplary movable itemcontainer and/or interface unit of a movable item container, inaccordance with some embodiments;

FIG. 12 shows a simplified flow diagram of an exemplary process ofdetermining a location and/or controlling movement of the motorizedtransport unit, movable item container, customer, user interface unit,or other such object, in accordance with some embodiments; and

FIG. 13 shows simplified exemplary processes that may be utilized indetermining a location of at least a motorized transport unit, inaccordance with some embodiments.

FIG. 14 comprises a block diagram of a system for mapping a shoppingspace in accordance with some embodiments.

FIG. 15 comprises a flow diagram of a method for mapping a shoppingspace in accordance with some embodiments.

FIGS. 16A and 16B comprise illustrations of a grid map of a shoppingspace in accordance with some embodiments.

FIG. 17 illustrates some embodiments of a motorized transport unitpositioned proximate a movable item container;

FIG. 18 illustrates some embodiments of a motorized transport unitpositioned proximate a movable item container that includes one or moretags;

FIG. 19 illustrates an example of the motorized transport unit of FIG. 1, in accordance with some embodiments;

FIG. 20 illustrates a simplified flow diagram of an exemplary process ofcooperating a motorized transport unit with a movable item contain suchthat the motorized transport unit can drive the movable item containerthrough a shopping facility and providing customer assistance;

FIGS. 21A, 21B and 21C illustrate some embodiments of a motorizedtransport unit detachably engaging a movable item container embodied asa shopping cart;

FIG. 22A illustrates an exemplary movable item container, embodied asshopping carts, with a seating block, in accordance with someembodiments;

FIG. 22B illustrates some embodiments of two seated movable itemcontainers, embodied as shopping carts.

Elements in the figures are illustrated for simplicity and clarity andhave not necessarily been drawn to scale. For example, the dimensionsand/or relative positioning of some of the elements in the figures maybe exaggerated relative to other elements to help to improveunderstanding of various embodiments of the present teachings. Also,common but well-understood elements that are useful or necessary in acommercially feasible embodiment are often not depicted in order tofacilitate a less obstructed view of these various embodiments of thepresent teachings. Certain actions and/or steps may be described ordepicted in a particular order of occurrence while those skilled in theart will understand that such specificity with respect to sequence isnot actually required. The terms and expressions used herein have theordinary technical meaning as is accorded to such terms and expressionsby persons skilled in the technical field as set forth above exceptwhere different specific meanings have otherwise been set forth herein.

DETAILED DESCRIPTION

The following description is not to be taken in a limiting sense, but ismade merely for the purpose of describing the general principles ofexemplary embodiments. Reference throughout this specification to “oneembodiment,” “an embodiment,” or similar language means that aparticular feature, structure, or characteristic described in connectionwith the embodiment is included in at least one embodiment of thepresent invention. Thus, appearances of the phrases “in one embodiment,”“in an embodiment,” and similar language throughout this specificationmay, but do not necessarily, all refer to the same embodiment.

Generally speaking, pursuant to various embodiments, systems, devicesand methods are provided for assistance of persons at a shoppingfacility. Generally, assistance may be provided to customers or shoppersat the facility and/or to workers at the facility. The facility may beany type of shopping facility at a location in which products fordisplay and/or for sale are variously distributed throughout theshopping facility space. The shopping facility may be a retail salesfacility, or any other type of facility in which products are displayedand/or sold. The shopping facility may include one or more of salesfloor areas, checkout locations, parking locations, entrance and exitareas, stock room areas, stock receiving areas, hallway areas, commonareas shared by merchants, and so on. Generally, a shopping facilityincludes areas that may be dynamic in terms of the physical structuresoccupying the space or area and objects, items, machinery and/or personsmoving in the area. For example, the shopping area may include productstorage units, shelves, racks, modules, bins, etc., and other walls,dividers, partitions, etc. that may be configured in different layoutsor physical arrangements. In other example, persons or other movableobjects may be freely and independently traveling through the shoppingfacility space. And in other example, the persons or movable objectsmove according to known travel patterns and timing. The facility may beany size of format facility, and may include products from one or moremerchants. For example, a facility may be a single store operated by onemerchant or may be a collection of stores covering multiple merchantssuch as a mall. Generally, the system makes use of automated, roboticmobile devices, e.g., motorized transport units, that are capable ofself-powered movement through a space of the shopping facility andproviding any number of functions. Movement and operation of suchdevices may be controlled by a central computer system or may beautonomously controlled by the motorized transport units themselves.Various embodiments provide one or more user interfaces to allow varioususers to interact with the system including the automated mobile devicesand/or to directly interact with the automated mobile devices. In someembodiments, the automated mobile devices and the corresponding systemserve to enhance a customer shopping experience in the shoppingfacility, e.g., by assisting shoppers and/or workers at the facility.

In some embodiments, a shopping facility personal assistance systemcomprises: a plurality of motorized transport units located in andconfigured to move through a shopping facility space; a plurality ofuser interface units, each corresponding to a respective motorizedtransport unit during use of the respective motorized transport unit;and a central computer system having a network interface such that thecentral computer system wirelessly communicates with one or both of theplurality of motorized transport units and the plurality of userinterface units, wherein the central computer system is configured tocontrol movement of the plurality of motorized transport units throughthe shopping facility space based at least on inputs from the pluralityof user interface units.

System Overview

Referring now to the drawings, FIG. 1 illustrates embodiments of ashopping facility assistance system 100 that can serve to carry out atleast some of the teachings set forth herein. It will be understood thatthe details of this example are intended to serve in an illustrativecapacity and are not necessarily intended to suggest any limitations asregards the present teachings. It is noted that generally, FIGS. 1-5describe the general functionality of several embodiments of a system,and FIGS. 6-22B expand on some functionalities of some embodiments ofthe system and/or embodiments independent of such systems.

In the example of FIG. 1 , a shopping assistance system 100 isimplemented in whole or in part at a shopping facility 101. Generally,the system 100 includes one or more motorized transport units (MTUs)102; one or more item containers 104; a central computer system 106having at least one control circuit 108, at least one memory 110 and atleast one network interface 112; at least one user interface unit 114; alocation determination system 116; at least one video camera 118; atleast one motorized transport unit (MTU) dispenser 120; at least onemotorized transport unit (MTU) docking station 122; at least onewireless network 124; at least one database 126; at least one userinterface computer device 128; an item display module 130; and a lockeror an item storage unit 132. It is understood that more or fewer of suchcomponents may be included in different embodiments of the system 100.

These motorized transport units 102 are located in the shopping facility101 and are configured to move throughout the shopping facility space.Further details regarding such motorized transport units 102 appearfurther below. Generally speaking, these motorized transport units 102are configured to either comprise, or to selectively couple to, acorresponding movable item container 104. A simple example of an itemcontainer 104 would be a shopping cart as one typically finds at manyretail facilities, or a rocket cart, a flatbed cart or any other mobilebasket or platform that may be used to gather items for potentialpurchase.

In some embodiments, these motorized transport units 102 wirelesslycommunicate with, and are wholly or largely controlled by, the centralcomputer system 106. In particular, in some embodiments, the centralcomputer system 106 is configured to control movement of the motorizedtransport units 102 through the shopping facility space based on avariety of inputs. For example, the central computer system 106communicates with each motorized transport unit 102 via the wirelessnetwork 124 which may be one or more wireless networks of one or morewireless network types (such as, a wireless local area network, awireless personal area network, a wireless mesh network, a wireless starnetwork, a wireless wide area network, a cellular network, and so on),capable of providing wireless coverage of the desired range of themotorized transport units 102 according to any known wireless protocols,including but not limited to a cellular, Wi-Fi, Zigbee or Bluetoothnetwork.

By one approach the central computer system 106 is a computer baseddevice and includes at least one control circuit 108, at least onememory 110 and at least one wired and/or wireless network interface 112.Such a control circuit 108 can comprise a fixed-purpose hard-wiredplatform or can comprise a partially or wholly programmable platform,such as a microcontroller, an application specification integratedcircuit, a field programmable gate array, and so on. These architecturaloptions are well known and understood in the art and require no furtherdescription here. This control circuit 108 is configured (for example,by using corresponding programming stored in the memory 110 as will bewell understood by those skilled in the art) to carry out one or more ofthe steps, actions, and/or functions described herein.

In this illustrative example the control circuit 108 operably couples toone or more memories 110. The memory 110 may be integral to the controlcircuit 108 or can be physically discrete (in whole or in part) from thecontrol circuit 108 as desired. This memory 110 can also be local withrespect to the control circuit 108 (where, for example, both share acommon circuit board, chassis, power supply, and/or housing) or can bepartially or wholly remote with respect to the control circuit 108(where, for example, the memory 110 is physically located in anotherfacility, metropolitan area, or even country as compared to the controlcircuit 108).

This memory 110 can serve, for example, to non-transitorily store thecomputer instructions that, when executed by the control circuit 108,cause the control circuit 108 to behave as described herein. (As usedherein, this reference to “non-transitorily” will be understood to referto a non-ephemeral state for the stored contents (and hence excludeswhen the stored contents merely constitute signals or waves) rather thanvolatility of the storage media itself and hence includes bothnon-volatile memory (such as read-only memory (ROM) as well as volatilememory (such as an erasable programmable read-only memory (EPROM).)

Additionally, at least one database 126 may be accessible by the centralcomputer system 106. Such databases may be integrated into the centralcomputer system 106 or separate from it. Such databases may be at thelocation of the shopping facility 101 or remote from the shoppingfacility 101. Regardless of location, the databases comprise memory tostore and organize certain data for use by the central control system106. In some embodiments, the at least one database 126 may store datapertaining to one or more of: shopping facility mapping data, customerdata, customer shopping data and patterns, inventory data, productpricing data, and so on.

In this illustrative example, the central computer system 106 alsowirelessly communicates with a plurality of user interface units 114.These teachings will accommodate a variety of user interface unitsincluding, but not limited to, mobile and/or handheld electronic devicessuch as so-called smart phones and portable computers such astablet/pad-styled computers. Generally speaking, these user interfaceunits 114 should be able to wirelessly communicate with the centralcomputer system 106 via a wireless network, such as the wireless network124 of the shopping facility 101 (such as a Wi-Fi wireless network).These user interface units 114 generally provide a user interface forinteraction with the system. In some embodiments, a given motorizedtransport unit 102 is paired with, associated with, assigned to orotherwise made to correspond with a given user interface unit 114. Insome embodiments, these user interface units 114 should also be able toreceive verbally-expressed input from a user and forward that content tothe central computer system 106 or a motorized transport unit 102 and/orconvert that verbally-expressed input into a form useful to the centralcomputer system 106 or a motorized transport unit 102.

By one approach at least some of the user interface units 114 belong tocorresponding customers who have come to the shopping facility 101 toshop. By another approach, in lieu of the foregoing or in combinationtherewith, at least some of the user interface units 114 belong to theshopping facility 101 and are loaned to individual customers to employas described herein. In some embodiments, one or more user interfaceunits 114 are attachable to a given movable item container 104 or areintegrated with the movable item container 104. Similarly, in someembodiments, one or more user interface units 114 may be those ofshopping facility workers, belong to the shopping facility 101 and areloaned to the workers, or a combination thereof.

In some embodiments, the user interface units 114 may be general purposecomputer devices that include computer programming code to allow it tointeract with the system 106. For example, such programming may be inthe form of an application installed on the user interface unit 114 orin the form of a browser that displays a user interface provided by thecentral computer system 106 or other remote computer or server (such asa web server). In some embodiments, one or more user interface units 114may be special purpose devices that are programmed to primarily functionas a user interface for the system 100. Depending on the functionalityand use case, user interface units 114 may be operated by customers ofthe shopping facility or may be operated by workers at the shoppingfacility, such as facility employees (associates or colleagues),vendors, suppliers, contractors, etc.

By one approach, the system 100 optionally includes one or more videocameras 118. Captured video imagery from such a video camera 118 can beprovided to the central computer system 106. That information can thenserve, for example, to help the central computer system 106 determine apresent location of one or more of the motorized transport units 102and/or determine issues or concerns regarding automated movement ofthose motorized transport units 102 in the shopping facility space. Asone simple example in these regards, such video information can permitthe central computer system 106, at least in part, to detect an objectin a path of movement of a particular one of the motorized transportunits 102.

By one approach these video cameras 118 comprise existing surveillanceequipment employed at the shopping facility 101 to serve, for example,various security purposes. By another approach these video cameras 118are dedicated to providing video content to the central computer system106 to facilitate the latter's control of the motorized transport units102. If desired, the video cameras 118 can have a selectively movablefield of view and/or zoom capability that the central computer system106 controls as appropriate to help ensure receipt of useful informationat any given moment.

In some embodiments, a location detection system 116 is provided at theshopping facility 101. The location detection system 116 provides inputto the central computer system 106 useful to help determine the locationof one or more of the motorized transport units 102. In someembodiments, the location detection system 116 includes a series oflight sources (e.g., LEDs (light-emitting diodes)) that are mounted inthe ceiling at known positions throughout the space and that each encodedata in the emitted light that identifies the source of the light (andthus, the location of the light). As a given motorized transport unit102 moves through the space, light sensors (or light receivers) at themotorized transport unit 102, on the movable item container 104 and/orat the user interface unit 114 receive the light and can decode thedata. This data is sent back to the central computer system 106 whichcan determine the position of the motorized transport unit 102 by thedata of the light it receives, since it can relate the light data to amapping of the light sources to locations at the facility 101.Generally, such lighting systems are known and commercially available,e.g., the ByteLight system from ByteLight of Boston, Massachusetts. Inembodiments using a ByteLight system, a typical display screen of thetypical smart phone device can be used as a light sensor or lightreceiver to receive and process data encoded into the light from theByteLight light sources.

In other embodiments, the location detection system 116 includes aseries of low energy radio beacons (e.g., Bluetooth low energy beacons)at known positions throughout the space and that each encode data in theemitted radio signal that identifies the beacon (and thus, the locationof the beacon). As a given motorized transport unit 102 moves throughthe space, low energy receivers at the motorized transport unit 102, onthe movable item container 104 and/or at the user interface unit 114receive the radio signal and can decode the data. This data is sent backto the central computer system 106 which can determine the position ofthe motorized transport unit 102 by the location encoded in the radiosignal it receives, since it can relate the location data to a mappingof the low energy radio beacons to locations at the facility 101.Generally, such low energy radio systems are known and commerciallyavailable. In embodiments using a Bluetooth low energy radio system, atypical Bluetooth radio of a typical smart phone device can be used as areceiver to receive and process data encoded into the Bluetooth lowenergy radio signals from the Bluetooth low energy beacons.

In still other embodiments, the location detection system 116 includes aseries of audio beacons at known positions throughout the space and thateach encode data in the emitted audio signal that identifies the beacon(and thus, the location of the beacon). As a given motorized transportunit 102 moves through the space, microphones at the motorized transportunit 102, on the movable item container 104 and/or at the user interfaceunit 114 receive the audio signal and can decode the data. This data issent back to the central computer system 106 which can determine theposition of the motorized transport unit 102 by the location encoded inthe audio signal it receives, since it can relate the location data to amapping of the audio beacons to locations at the facility 101.Generally, such audio beacon systems are known and commerciallyavailable. In embodiments using an audio beacon system, a typicalmicrophone of a typical smart phone device can be used as a receiver toreceive and process data encoded into the audio signals from the audiobeacon.

Also optionally, the central computer system 106 can operably couple toone or more user interface computers 128 (comprising, for example, adisplay and a user input interface such as a keyboard, touch screen,and/or cursor-movement device). Such a user interface computer 128 canpermit, for example, a worker (e.g., an associate, analyst, etc.) at theretail or shopping facility 101 to monitor the operations of the centralcomputer system 106 and/or to attend to any of a variety ofadministrative, configuration or evaluation tasks as may correspond tothe programming and operation of the central computer system 106. Suchuser interface computers 128 may be at or remote from the location ofthe facility 101 and may access one or more the databases 126.

In some embodiments, the system 100 includes at least one motorizedtransport unit (MTU) storage unit or dispenser 120 at various locationsin the shopping facility 101. The dispenser 120 provides for storage ofmotorized transport units 102 that are ready to be assigned to customersand/or workers. In some embodiments, the dispenser 120 takes the form ofa cylinder within which motorized transports units 102 are stacked andreleased through the bottom of the dispenser 120. Further details ofsuch embodiments are provided further below. In some embodiments, thedispenser 120 may be fixed in location or may be mobile and capable oftransporting itself to a given location or utilizing a motorizedtransport unit 102 to transport the dispenser 120, then dispense one ormore motorized transport units 102.

In some embodiments, the system 100 includes at least one motorizedtransport unit (MTU) docking station 122. These docking stations 122provide locations where motorized transport units 102 can travel andconnect to. For example, the motorized transport units 102 may be storedand charged at the docking station 122 for later use, and/or may beserviced at the docking station 122.

In accordance with some embodiments, a given motorized transport unit102 detachably connects to a movable item container 104 and isconfigured to move the movable item container 104 through the shoppingfacility space under control of the central computer system 106 and/orthe user interface unit 114. For example, a motorized transport unit 102can move to a position underneath a movable item container 104 (such asa shopping cart, a rocket cart, a flatbed cart, or any other mobilebasket or platform), align itself with the movable item container 104(e.g., using sensors) and then raise itself to engage an undersurface ofthe movable item container 104 and lift a portion of the movable itemcontainer 104. Once the motorized transport unit is cooperating with themovable item container 104 (e.g., lifting a portion of the movable itemcontainer), the motorized transport unit 102 can continue to movethroughout the facility space 101 taking the movable item container 104with it. In some examples, the motorized transport unit 102 takes theform of the motorized transport unit 202 of FIGS. 2A-3B as it engagesand detachably connects to a given movable item container 104. It isunderstood that in other embodiments, the motorized transport unit 102may not lift a portion of the movable item container 104, but that itremovably latches to, connects to or otherwise attaches to a portion ofthe movable item container 104 such that the movable item container 104can be moved by the motorized transport unit 102. For example, themotorized transport unit 102 can connect to a given movable itemcontainer using a hook, a mating connector, a magnet, and so on.

In addition to detachably coupling to movable item containers 104 (suchas shopping carts), in some embodiments, motorized transport units 102can move to and engage or connect to an item display module 130 and/oran item storage unit or locker 132. For example, an item display module130 may take the form of a mobile display rack or shelving unitconfigured to house and display certain items for sale. It may bedesired to position the display module 130 at various locations withinthe shopping facility 101 at various times. Thus, one or more motorizedtransport units 102 may move (as controlled by the central computersystem 106) underneath the item display module 130, extend upward tolift the module 130 and then move it to the desired location. A storagelocker 132 may be a storage device where items for purchase arecollected and placed therein for a customer and/or worker to laterretrieve. In some embodiments, one or more motorized transport units 102may be used to move the storage locker to a desired location in theshopping facility 101. Similar to how a motorized transport unit engagesa movable item container 104 or item display module 130, one or moremotorized transport units 102 may move (as controlled by the centralcomputer system 106) underneath the storage locker 132, extend upward tolift the locker 132 and then move it to the desired location.

FIGS. 2A and 2B illustrate some embodiments of a motorized transportunit 202, similar to the motorized transport unit 102 shown in thesystem of FIG. 1 . In this embodiment, the motorized transport unit 202takes the form of a disc-shaped robotic device having motorized wheels(not shown), a lower body portion 204 and an upper body portion 206 thatfits over at least part of the lower body portion 204. It is noted thatin other embodiments, the motorized transport unit may have other shapesand/or configurations, and is not limited to disc-shaped. For example,the motorized transport unit may be cubic, octagonal, triangular, orother shapes, and may be dependent on a movable item container withwhich the motorized transport unit is intended to cooperate. Alsoincluded are guide members 208. In FIG. 2A, the motorized transport unit202 is shown in a retracted position in which the upper body portion 206fits over the lower body portion 204 such that the motorized transportunit 202 is in its lowest profile orientation which is generally thepreferred orientation for movement when it is unattached to a movableitem container 104 for example. In FIG. 2B, the motorized transport unit202 is shown in an extended position in which the upper body portion 206is moved upward relative to the lower body portion 204 such that themotorized transport unit 202 is in its highest profile orientation formovement when it is lifting and attaching to a movable item container104 for example. The mechanism within the motorized transport unit 202is designed to provide sufficient lifting force to lift the weight ofthe upper body portion 206 and other objects to be lifted by themotorized transport unit 202, such as movable item containers 104 anditems placed within the movable item container, item display modules 130and items supported by the item display module, and storage lockers 132and items placed within the storage locker. The guide members 208 areembodied as pegs or shafts that extend horizontally from the both theupper body portion 206 and the lower body portion 204. In someembodiments, these guide members 208 assist docking the motorizedtransport unit 202 to a docking station 122 or a dispenser 120. In someembodiments, the lower body portion 204 and the upper body portion arecapable to moving independently of each other. For example, the upperbody portion 206 may be raised and/or rotated relative to the lower bodyportion 204. That is, one or both of the upper body portion 206 and thelower body portion 204 may move toward/away from the other or rotatedrelative to the other. In some embodiments, in order to raise the upperbody portion 206 relative to the lower body portion 204, the motorizedtransport unit 202 includes an internal lifting system (e.g., includingone or more electric actuators or rotary drives or motors). Numerousexamples of such motorized lifting and rotating systems are known in theart. Accordingly, further elaboration in these regards is not providedhere for the sake of brevity.

FIGS. 3A and 3B illustrate some embodiments of the motorized transportunit 202 detachably engaging a movable item container embodied as ashopping cart 302. In FIG. 3A, the motorized transport unit 202 is inthe orientation of FIG. 2A such that it is retracted and able to move inposition underneath a portion of the shopping cart 302. Once themotorized transport unit 202 is in position (e.g., using sensors), asillustrated in FIG. 3B, the motorized transport unit 202 is moved to theextended position of FIG. 2B such that the front portion 304 of theshopping cart is lifted off of the ground by the motorized transportunit 202, with the wheels 306 at the rear of the shopping cart 302remaining on the ground. In this orientation, the motorized transportunit 202 is able to move the shopping cart 302 throughout the shoppingfacility. It is noted that in these embodiments, the motorized transportunit 202 does not bear the weight of the entire cart 302 since the rearwheels 306 rest on the floor. It is understood that in some embodiments,the motorized transport unit 202 may be configured to detachably engageother types of movable item containers, such as rocket carts, flatbedcarts or other mobile baskets or platforms.

FIG. 4 presents a more detailed example of some embodiments of themotorized transport unit 102 of FIG. 1 . In this example, the motorizedtransport unit 102 has a housing 402 that contains (partially or fully)or at least supports and carries a number of components. Thesecomponents include a control unit 404 comprising a control circuit 406that, like the control circuit 108 of the central computer system 106,controls the general operations of the motorized transport unit 102.Accordingly, the control unit 404 also includes a memory 408 coupled tothe control circuit 406 and that stores, for example, operatinginstructions and/or useful data.

The control circuit 406 operably couples to a motorized wheel system410. This motorized wheel system 410 functions as a locomotion system topermit the motorized transport unit 102 to move within theaforementioned retail or shopping facility 101 (thus, the motorizedwheel system 410 may more generically be referred to as a locomotionsystem). Generally speaking, this motorized wheel system 410 willinclude at least one drive wheel (i.e., a wheel that rotates (around ahorizontal axis) under power to thereby cause the motorized transportunit 102 to move through interaction with, for example, the floor of theshopping facility 101). The motorized wheel system 410 can include anynumber of rotating wheels and/or other floor-contacting mechanisms asmay be desired and/or appropriate to the application setting.

The motorized wheel system 410 also includes a steering mechanism ofchoice. One simple example in these regards comprises one or more of theaforementioned wheels that can swivel about a vertical axis to therebycause the moving motorized transport unit 102 to turn as well.

Numerous examples of motorized wheel systems are known in the art.Accordingly, further elaboration in these regards is not provided herefor the sake of brevity save to note that the aforementioned controlcircuit 406 is configured to control the various operating states of themotorized wheel system 410 to thereby control when and how the motorizedwheel system 410 operates.

In this illustrative example, the control circuit 406 also operablycouples to at least one wireless transceiver 412 that operates accordingto any known wireless protocol. This wireless transceiver 412 cancomprise, for example, a Wi-Fi-compatible and/or Bluetooth-compatibletransceiver that can communicate with the aforementioned centralcomputer system 106 via the aforementioned wireless network 124 of theshopping facility 101. So configured the control circuit 406 of themotorized transport unit 102 can provide information to the centralcomputer system 106 and can receive information and/or instructions fromthe central computer system 106. As one simple example in these regards,the control circuit 406 can receive instructions from the centralcomputer system 106 regarding movement of the motorized transport unit102.

These teachings will accommodate using any of a wide variety of wirelesstechnologies as desired and/or as may be appropriate in a givenapplication setting. These teachings will also accommodate employing twoor more different wireless transceivers 412 if desired.

The control circuit 406 also couples to one or more on-board sensors414. These teachings will accommodate a wide variety of sensortechnologies and form factors. By one approach at least one such sensor414 can comprise a light sensor or light receiver. When theaforementioned location detection system 116 comprises a plurality oflight emitters disposed at particular locations within the shoppingfacility 101, such a light sensor can provide information that thecontrol circuit 406 and/or the central computer system 106 employs todetermine a present location and/or orientation of the motorizedtransport unit 102.

As another example, such a sensor 414 can comprise a distancemeasurement unit configured to detect a distance between the motorizedtransport unit 102 and one or more objects or surfaces around themotorized transport unit 102 (such as an object that lies in a projectedpath of movement for the motorized transport unit 102 through theshopping facility 101). These teachings will accommodate any of avariety of distance measurement units including optical units andsound/ultrasound units. In one example, a sensor 414 comprises a laserdistance sensor device capable of determining a distance to objects inproximity to the sensor. In some embodiments, a sensor 414 comprises anoptical based scanning device to sense and read optical patterns inproximity to the sensor, such as bar codes variously located onstructures in the shopping facility 101. In some embodiments, a sensor414 comprises a radio frequency identification (RFID) tag reader capableof reading RFID tags in proximity to the sensor. Such sensors may beuseful to determine proximity to nearby objects, avoid collisions,orient the motorized transport unit at a proper alignment orientation toengage a movable item container, and so on.

The foregoing examples are intended to be illustrative and are notintended to convey an exhaustive listing of all possible sensors.Instead, it will be understood that these teachings will accommodatesensing any of a wide variety of circumstances or phenomena to supportthe operating functionality of the motorized transport unit 102 in agiven application setting.

By one optional approach an audio input 416 (such as a microphone)and/or an audio output 418 (such as a speaker) can also operably coupleto the control circuit 406. So configured the control circuit 406 canprovide a variety of audible sounds to thereby communicate with a userof the motorized transport unit 102, other persons in the vicinity ofthe motorized transport unit 102, or even other motorized transportunits 102 in the area. These audible sounds can include any of a varietyof tones and other non-verbal sounds. These audible sounds can alsoinclude, in lieu of the foregoing or in combination therewith,pre-recorded or synthesized speech.

The audio input 416, in turn, provides a mechanism whereby, for example,a user provides verbal input to the control circuit 406. That verbalinput can comprise, for example, instructions, inquiries, orinformation. So configured, a user can provide, for example, a questionto the motorized transport unit 102 (such as, “Where are the towels?”).The control circuit 406 can cause that verbalized question to betransmitted to the central computer system 106 via the motorizedtransport unit's wireless transceiver 412. The central computer system106 can process that verbal input to recognize the speech content and tothen determine an appropriate response. That response might comprise,for example, transmitting back to the motorized transport unit 102specific instructions regarding how to move the motorized transport unit102 (via the aforementioned motorized wheel system 410) to the locationin the shopping facility 101 where the towels are displayed.

In this example the motorized transport unit 102 includes a rechargeablepower source 420 such as one or more batteries. The power provided bythe rechargeable power source 420 can be made available to whichevercomponents of the motorized transport unit 102 require electricalenergy. By one approach the motorized transport unit 102 includes a plugor other electrically conductive interface that the control circuit 406can utilize to automatically connect to an external source of electricalenergy to thereby recharge the rechargeable power source 420.

By one approach the motorized transport unit 102 comprises an integralpart of a movable item container 104 such as a grocery cart. As usedherein, this reference to “integral” will be understood to refer to anon-temporary combination and joinder that is sufficiently complete soas to consider the combined elements to be as one. Such a joinder can befacilitated in a number of ways including by securing the motorizedtransport unit housing 402 to the item container using bolts or otherthreaded fasteners as versus, for example, a clip.

These teachings will also accommodate selectively and temporarilyattaching the motorized transport unit 102 to an item container 104. Insuch a case the motorized transport unit 102 can include a movable itemcontainer coupling structure 422. By one approach this movable itemcontainer coupling structure 422 operably couples to a control circuit406 to thereby permit the latter to control, for example, the latchedand unlatched states of the movable item container coupling structure422. So configured, by one approach the control circuit 406 canautomatically and selectively move the motorized transport unit 102 (viathe motorized wheel system 410) towards a particular item containeruntil the movable item container coupling structure 422 can engage theitem container to thereby temporarily physically couple the motorizedtransport unit 102 to the item container. So latched, the motorizedtransport unit 102 can then cause the item container to move with themotorized transport unit 102. In embodiments such as illustrated inFIGS. 2A-3B, the movable item container coupling structure 422 includesa lifting system (e.g., including an electric drive or motor) to cause aportion of the body or housing 402 to engage and lift a portion of theitem container off of the ground such that the motorized transport unit102 can carry a portion of the item container. In other embodiments, themovable transport unit latches to a portion of the movable itemcontainer without lifting a portion thereof off of the ground.

In either case, by combining the motorized transport unit 102 with anitem container, and by controlling movement of the motorized transportunit 102 via the aforementioned central computer system 106, theseteachings will facilitate a wide variety of useful ways to assist bothcustomers and associates in a shopping facility setting. For example,the motorized transport unit 102 can be configured to follow aparticular customer as they shop within the shopping facility 101. Thecustomer can then place items they intend to purchase into the itemcontainer that is associated with the motorized transport unit 102.

In some embodiments, the motorized transport unit 102 includes aninput/output (I/O) device 424 that is coupled to the control circuit406. The I/O device 424 allows an external device to couple to thecontrol unit 404. The function and purpose of connecting devices willdepend on the application. In some examples, devices connecting to theI/O device 424 may add functionality to the control unit 404, allow theexporting of data from the control unit 404, allow the diagnosing of themotorized transport unit 102, and so on.

In some embodiments, the motorized transport unit 102 includes a userinterface 426 including for example, user inputs and/or user outputs ordisplays depending on the intended interaction with the user. Forexample, user inputs could include any input device such as buttons,knobs, switches, touch sensitive surfaces or display screens, and so on.Example user outputs include lights, display screens, and so on. Theuser interface 426 may work together with or separate from any userinterface implemented at a user interface unit 114 (such as a smartphone or tablet device).

The control unit 404 includes a memory 408 coupled to the controlcircuit 406 and that stores, for example, operating instructions and/oruseful data. The control circuit 406 can comprise a fixed-purposehard-wired platform or can comprise a partially or wholly programmableplatform. These architectural options are well known and understood inthe art and require no further description here. This control circuit406 is configured (for example, by using corresponding programmingstored in the memory 408 as will be well understood by those skilled inthe art) to carry out one or more of the steps, actions, and/orfunctions described herein. The memory 408 may be integral to thecontrol circuit 406 or can be physically discrete (in whole or in part)from the control circuit 406 as desired. This memory 408 can also belocal with respect to the control circuit 406 (where, for example, bothshare a common circuit board, chassis, power supply, and/or housing) orcan be partially or wholly remote with respect to the control circuit406. This memory 408 can serve, for example, to non-transitorily storethe computer instructions that, when executed by the control circuit406, cause the control circuit 406 to behave as described herein. (Asused herein, this reference to “non-transitorily” will be understood torefer to a non-ephemeral state for the stored contents (and henceexcludes when the stored contents merely constitute signals or waves)rather than volatility of the storage media itself and hence includesboth non-volatile memory (such as read-only memory (ROM) as well asvolatile memory (such as an erasable programmable read-only memory(EPROM).)

It is noted that not all components illustrated in FIG. 4 are includedin all embodiments of the motorized transport unit 102. That is, somecomponents may be optional depending on the implementation.

FIG. 5 illustrates a functional block diagram that may generallyrepresent any number of various electronic components of the system 100that are computer type devices. The computer device 500 includes acontrol circuit 502, a memory 504, a user interface 506 and aninput/output (I/O) interface 508 providing any type of wired and/orwireless connectivity to the computer device 500, all coupled to acommunication bus 510 to allow data and signaling to pass therebetween.Generally, the control circuit 502 and the memory 504 may be referred toas a control unit. The control circuit 502, the memory 504, the userinterface 506 and the I/O interface 508 may be any of the devicesdescribed herein or as understood in the art. The functionality of thecomputer device 500 will depend on the programming stored in the memory504. The computer device 500 may represent a high level diagram for oneor more of the central computer system 106, the motorized transport unit102, the user interface unit 114, the location detection system 116, theuser interface computer 128, the MTU docking station 122 and the MTUdispenser 120, or any other device or component in the system that isimplemented as a computer device.

Additional Features Overview

Referring generally to FIGS. 1-5 , the shopping assistance system 100may implement one or more of several different features depending on theconfiguration of the system and its components. The following provides abrief description of several additional features that could beimplemented by the system. One or more of these features could also beimplemented in other systems separate from embodiments of the system.This is not meant to be an exhaustive description of all features andnot meant to be an exhaustive description of details of any one of thefeatures. Further details with regards to one or more features beyondthis overview may be provided herein.

Tagalong Steering: This feature allows a given motorized transport unit102 to lead or follow a user (e.g., a customer and/or a worker)throughout the shopping facility 101. For example, the central computersystem 106 uses the location detection system 116 to determine thelocation of the motorized transport unit 102. For example, LED smartlights (e.g., the ByteLight system) of the location detection system 116transmit a location number to smart devices which are with the customer(e.g., user interface units 114), and/or on the item container104/motorized transport unit 102. The central computer system 106receives the LED location numbers received by the smart devices throughthe wireless network 124. Using this information, in some embodiments,the central computer system 106 uses a grid placed upon a 2D CAD map and3D point cloud model (e.g., from the databases 126) to direct, track,and plot paths for the other devices. Using the grid, the motorizedtransport unit 102 can drive a movable item container 104 in a straightpath rather than zigzagging around the facility. As the user moves fromone grid to another, the motorized transport unit 102 drives thecontainer 104 from one grid to the other. In some embodiments, as theuser moves towards the motorized transport unit, it stays still untilthe customer moves beyond an adjoining grid.

Detecting Objects: In some embodiments, motorized transport units 102detect objects through several sensors mounted on motorized transportunit 102, through independent cameras (e.g., video cameras 118), throughsensors of a corresponding movable item container 104, and throughcommunications with the central computer system 106. In someembodiments, with semi-autonomous capabilities, the motorized transportunit 102 will attempt to avoid obstacles, and if unable to avoid, itwill notify the central computer system 106 of an exception condition.In some embodiments, using sensors 414 (such as distance measurementunits, e.g., laser or other optical-based distance measurement sensors),the motorized transport unit 102 detects obstacles in its path, and willmove to avoid, or stop until the obstacle is clear.

Visual Remote Steering: This feature enables movement and/or operationof a motorized transport unit 102 to be controlled by a user on-site,off-site, or anywhere in the world. This is due to the architecture ofsome embodiments where the central computer system 106 outputs thecontrol signals to the motorized transport unit 102. These controlssignals could have originated at any device in communication with thecentral computer system 106. For example, the movement signals sent tothe motorized transport unit 102 may be movement instructions determinedby the central computer system 106; commands received at a userinterface unit 114 from a user; and commands received at the centralcomputer system 106 from a remote user not located at the shoppingfacility space.

Determining Location: Similar to that described above, this featureenables the central computer system 106 to determine the location ofdevices in the shopping facility 101. For example, the central computersystem 106 maps received LED light transmissions, Bluetooth low energyradio signals or audio signals (or other received signals encoded withlocation data) to a 2D map of the shopping facility. Objects within thearea of the shopping facility are also mapped and associated with thosetransmissions. Using this information, the central computer system 106can determine the location of devices such as motorized transport units.

Digital Physical Map Integration: In some embodiments, the system 100 iscapable of integrating 2D and 3D maps of the shopping facility withphysical locations of objects and workers. Once the central computersystem 106 maps all objects to specific locations using algorithms,measurements and LED geo-location, for example, grids are applied whichsections off the maps into access ways and blocked sections. Motorizedtransport units 102 use these grids for navigation and recognition. Insome cases, grids are applied to 2D horizontal maps along with 3Dmodels. In some cases, grids start at a higher unit level and then canbe broken down into smaller units of measure by the central computersystem 106 when needed to provide more accuracy.

Calling a Motorized Transport Unit: This feature provides multiplemethods to request and schedule a motorized transport unit 102 forassistance in the shopping facility. In some embodiments, users canrequest use of a motorized transport unit 102 through the user interfaceunit 114. The central computer system 106 can check to see if there isan available motorized transport unit. Once assigned to a given user,other users will not be able to control the already assigned transportunit. Workers, such as store associates, may also reserve multiplemotorized transport units in order to accomplish a coordinated largejob.

Locker Delivery: In some embodiments, one or more motorized transportunits 102 may be used to pick, pack, and deliver items to a particularstorage locker 132. The motorized transport units 102 can couple to andmove the storage locker to a desired location. In some embodiments, oncedelivered, the requestor will be notified that the items are ready to bepicked up, and will be provided the locker location and locker securitycode key.

Route Optimization: In some embodiments, the central computer systemautomatically generates a travel route for one or more motorizedtransport units through the shopping facility space. In someembodiments, this route is based on one or more of a user provided listof items entered by the user via a user interface unit 114; userselected route preferences entered by the user via the user interfaceunit 114; user profile data received from a user information database(e.g., from one of databases 126); and product availability informationfrom a retail inventory database (e.g., from one of databases 126). Insome cases, the route intends to minimize the time it takes to getthrough the facility, and in some cases, may route the shopper to theleast busy checkout area. Frequently, there will be multiple possibleoptimum routes. The route chosen may take the user by things the user ismore likely to purchase (in case they forgot something), and away fromthings they are not likely to buy (to avoid embarrassment). That is,routing a customer through sporting goods, women's lingerie, baby food,or feminine products, who has never purchased such products based onpast customer behavior would be non-productive, and potentiallyembarrassing to the customer. In some cases, a route may be determinedfrom multiple possible routes based on past shopping behavior, e.g., ifthe customer typically buys a cold Diet Coke product, children's shoesor power tools, this information would be used to add weight to the bestalternative routes, and determine the route accordingly.

Store Facing Features: In some embodiments, these features enablefunctions to support workers in performing store functions. For example,the system can assist workers to know what products and items are on theshelves and which ones need attention. For example, using 3D scanningand point cloud measurements, the central computer system can determinewhere products are supposed to be, enabling workers to be alerted tofacing or zoning of issues along with potential inventory issues.

Phone Home: This feature allows users in a shopping facility 101 to beable to contact remote users who are not at the shopping facility 101and include them in the shopping experience. For example, the userinterface unit 114 may allow the user to place a voice call, a videocall, or send a text message. With video call capabilities, a remoteperson can virtually accompany an in-store shopper, visually sharing theshopping experience while seeing and talking with the shopper. One ormore remote shoppers may join the experience.

Returns: In some embodiments, the central computer system 106 can task amotorized transport unit 102 to keep the returns area clear of returnedmerchandise. For example, the transport unit may be instructed to move acart from the returns area to a different department or area. Suchcommands may be initiated from video analytics (the central computersystem analyzing camera footage showing a cart full), from an associatecommand (digital or verbal), or on a schedule, as other priority tasksallow. The motorized transport unit 102 can first bring an empty cart tothe returns area, prior to removing a full one.

Bring a Container: One or more motorized transport units can retrieve amovable item container 104 (such as a shopping cart) to use. Forexample, upon a customer or worker request, the motorized transport unit102 can re-position one or more item containers 104 from one location toanother. In some cases, the system instructs the motorized transportunit where to obtain an empty item container for use. For example, thesystem can recognize an empty and idle item container that has beenabandoned or instruct that one be retrieved from a cart storage area. Insome cases, the call to retrieve an item container may be initiatedthrough a call button placed throughout the facility, or through theinterface of a user interface unit 114.

Respond to Voice Commands: In some cases, control of a given motorizedtransport unit is implemented through the acceptance of voice commands.For example, the user may speak voice commands to the motorizedtransport unit 102 itself and/or to the user interface unit 114. In someembodiments, a voice print is used to authorize to use of a motorizedtransport unit 102 to allow voice commands from single user at a time.

Retrieve Abandoned Item Containers: This feature allows the centralcomputer system to track movement of movable item containers in andaround the area of the shopping facility 101, including both the salefloor areas and the back-room areas. For example, using visualrecognition through store cameras 118 or through user interface units114, the central computer system 106 can identify abandoned andout-of-place movable item containers. In some cases, each movable itemcontainer has a transmitter or smart device which will send a uniqueidentifier to facilitate tracking or other tasks and its position usingLED geo-location identification. Using LED geo-location identificationwith the Determining Location feature through smart devices on eachcart, the central computer system 106 can determine the length of time amovable item container 104 is stationary.

Stocker Assistance: This feature allows the central computer system totrack movement of merchandise flow into and around the back-room areas.For example, using visual recognition and captured images, the centralcomputer system 106 can determine if carts are loaded or not for movingmerchandise between the back room areas and the sale floor areas. Tasksor alerts may be sent to workers to assign tasks.

Self-Docking: Motorized transport units 102 will run low or out of powerwhen used. Before this happens, the motorized transport units 102 needto recharge to stay in service. According to this feature, motorizedtransport units 102 will self-dock and recharge (e.g., at a MTU dockingstation 122) to stay at maximum efficiency, when not in use. When use iscompleted, the motorized transport unit 102 will return to a dockingstation 122. In some cases, if the power is running low during use, areplacement motorized transport unit can be assigned to move intoposition and replace the motorized transport unit with low power. Thetransition from one unit to the next can be seamless to the user.

Item Container Retrieval: With this feature, the central computer system106 can cause multiple motorized transport units 102 to retrieveabandoned item containers from exterior areas such as parking lots. Forexample, multiple motorized transport units are loaded into a movabledispenser, e.g., the motorized transport units are vertically stacked inthe dispenser. The dispenser is moved to the exterior area and thetransport units are dispensed. Based on video analytics, it isdetermined which item containers 104 are abandoned and for how long. Atransport unit will attach to an abandoned cart and return it to astorage bay.

Motorized Transport Unit Dispenser: This feature provides the movabledispenser that contains and moves a group of motorized transport unitsto a given area (e.g., an exterior area such as a parking lot) to bedispensed for use. For example, motorized transport units can be movedto the parking lot to retrieve abandoned item containers 104. In somecases, the interior of the dispenser includes helically wound guiderails that mate with the guide member 208 to allow the motorizedtransport units to be guided to a position to be dispensed.

Specialized Module Retrieval: This feature allows the system 100 totrack movement of merchandise flow into and around the sales floor areasand the back-room areas including special modules that may be needed tomove to the sales floor. For example, using video analytics, the systemcan determine if a modular unit it loaded or empty. Such modular unitsmay house items that are of seasonal or temporary use on the salesfloor. For example, when it is raining, it is useful to move a moduleunit displaying umbrellas from a back room area (or a lesser accessedarea of the sales floor) to a desired area of the sales floor area.

Authentication: This feature uses a voice imprint with an attentioncode/word to authenticate a user to a given motorized transport unit.One motorized transport unit can be swapped for another using thisauthentication. For example, a token is used during the session with theuser. The token is a unique identifier for the session which is droppedonce the session is ended. A logical token may be a session id used bythe application of the user interface unit 114 to establish the sessionid when user logs on and when deciding to do use the system 100. In someembodiments, communications throughout the session are encrypted usingSSL or other methods at transport level.

Further Details of Some Embodiments

In accordance with some embodiments, further details are now providedfor one or more of these and other features. For example, generallyspeaking, pursuant to various embodiments, systems, apparatuses,processes and methods are provided herein that allow for more accuratelocation determination, tracking and/or prediction relative to ashopping facility, such as a retail store location, shopping mall,distribution center, shopping campus or the like. The accurate locationof motorized transport units, movable item containers, customers,associates and/or other objects allows for more accurate tracking,control and distribution of at least motorized transport units andmovable item containers. In some embodiments the central computer system106 in cooperation with the location detection system allows the centralcomputer system to determine a location of the motorized transport units102 at the shopping facility. Further, the central computer system mayalso be configured to determine a location of one or more of the movableitem containers, user interface units, and the like.

FIG. 6 illustrates a block diagram of an exemplary shopping assistancesystem 600, similar to that of FIG. 1 , as configured in accordance withvarious embodiments of these teachings. In some embodiments, theshopping assistance system 600 includes the components of FIG. 1 , withthe addition of a location controller 602. The location controller maybe part of the central computer system 106, while in other embodiments,the location controller may be separate from and in communication withthe central computer system. Accordingly, the shopping facilityassistance system 100 (sometimes also referred to as a shopping facilitymanagement system) can be configured to determine a location of at leastthe self-propelled motorized transport units 102 associated with theshopping facility, in accordance with some embodiments.

Further, some embodiments include a lighting system or network 616,which may be part of the location detection system 116 or separate fromthe location detection system. The lighting system 616 includes one ormore light units that emit light with information encoded into theemitted light. The information can include light source identifierinformation, area identifier or number, location information, and/orother such information or combination of such information. In someimplementations, the light sources of the lighting system are configuredto further provide lighting to the shopping facility. In someembodiments, however, the lighting system may cause non-visible light tobe emitted that can include the relevant information and can bedetected. Typically, the motorized transport units include lightdetectors to detect the light from the lighting system and communicateat least some of the information to the location controller.Accordingly, in some embodiments, the motorized transport units areconfigured to wirelessly communicate with the location controller, orthe central computer system, which can forward relevant information tothe location controller. Further, in some embodiments, locationcontroller 602 is configured to communicate with user interface units114, such as through one or more wireless communication protocols (e.g.,Wi-Fi, Bluetooth, etc.), which can be part of or separate from adistributed communication network (e.g., wireless network 124).

The location controller 602 may also be communicationally coupled withone or more databases 126. The databases 126 can store substantially anyrelevant information such as but not limited to store mappinginformation, lighting patterns, light source identifiers, light sourcemapping, motorized transport unit identifying information, capabilitiesof the motorized transport units, movable item container identifyinginformation, product information, location information, commands, codes,code location mapping, software, applications, executables, log and/orhistoric information, customer information (e.g., preferences, log-ininformation, contact information, etc.), other such relevantinformation, and typically a combination of two or more of suchinformation. Similarly, some or all of the information stored and/oraccessible through the databases may be stored at one or more of thelocation controller 602, the central computer system 106, the motorizedtransport units 102, the movable item containers 104, the user interfaceunits, and the like.

As described above, the motorized transport units 102 are self-propelledand configured to move themselves throughout at least some, if not allof the shopping facility. In some embodiments, the motorized transportunits 102 wirelessly receive commands from the location controller 602(or the control circuit) to direct the motorized transport units todesired locations and/or along desired routes within or outside of theshopping facility. The motorized transport units may additionally oralternatively be configured to operate autonomously and/or at leastpartially autonomously from the central computer system (CCS). Further,in some embodiments, the motorized transport units 102 are configured tobe fixed with or removably cooperated with the movable item containers104 to move the movable item containers throughout authorized areas ofthe shopping facility, and in some instances outside of the shoppingfacility. The movable item containers 104 are configured to be used bycustomers and/or shopping facility associates or other employees intransporting products through the shopping facility. For example, insome embodiments, the movable item containers can be baskets, bins,wheeled carts, wheeled pallets, advertising systems, and/or other suchmovable item containers. For simplicity, the embodiments below aredescribed with respect to carts or shopping carts. It will beappreciated by those skilled in the art, however, that the movable itemcontainers are not limited to carts, but can be other objects configuredto carry products.

In operation, the motorized transport units 102 and/or the movable itemcontainers provide information to the location controller 602 to allowthe location controller to determine, in association with one or moremappings of the shopping facility (and in some instances surroundingareas of the shopping facility), a location of the motorized transportunits and/or movable item containers. In some embodiments, the motorizedtransport units 102 are configured with one or more detection systemsthat can provide relevant information to the location controller.

FIG. 7 shows a simplified block diagram of an exemplary locationcontroller 602 in accordance with some embodiments. The locationcontroller includes at least one control circuit 702, at least onememory 704, and at least one input/output (I/O) device or interface 708.The control circuit typically comprises one or more processors and/ormicroprocessors. Generally, the memory 704 stores the operational codeor set of instructions that is executed by the control circuit 702and/or processor to implement the functionality of the locationcontroller. In some embodiments, the memory 704 may also store some orall of particular data that may be needed to make any of thedeterminations and/or corrections described herein. Such data may bepre-stored in the memory or be received, for example, from the motorizedtransport units 102, the movable item containers 104, customer and/orshopping facility associate user interface units 114, the databases 126,or other sources, or combinations of such sources. It is understood thatthe control circuit and/or processor may be implemented as one or moreprocessor devices as are well known in the art. Similarly, the memory704 may be implemented as one or more memory devices as are well knownin the art, such as one or more processor readable and/or computerreadable media and can include volatile and/or nonvolatile media, suchas RAM, ROM, EEPROM, flash memory and/or other memory technology.Further, the memory 704 is shown as internal to the location controller;however, the memory 704 can be internal, external or a combination ofinternal and external memory. Additionally, the location controller mayinclude a power supply (not shown) or it may receive power from anexternal source.

The control circuit 702 and the memory 704 may be integrated together,such as in a microcontroller, application specification integratedcircuit, field programmable gate array or other such device, or may beseparate devices coupled together. The I/O device 708 allows wiredand/or wireless communication coupling of the location controller toexternal components, such as the databases 126, the motorized transportunits 102, the user interface units 114, the movable item containers104, and other such components, including when relevant the video camera118 or video system, lighting system 616, and the like. Accordingly, theI/O device 708 may include any known wired and/or wireless interfacingdevice, circuit and/or connecting device. In some embodiments, a userinterface 710 is included in and/or coupled with the location controller602, which may be used for user input and/or output display. Forexample, the user interface 710 may include any known input devices,such one or more buttons, knobs, selectors, switches, keys, touch inputsurfaces and/or displays, etc. Additionally, the user interface mayinclude one or more output display devices, such as lights, visualindicators, display screens, etc. to convey information to a user, suchas status information, location information, mapping information,product location information, product information, video content,operating status information, notifications, errors, conditions and/orother such information. While FIG. 7 illustrates the various componentsbeing coupled together via a bus, it is understood that the variouscomponents may actually be coupled to the control circuit 702 and/or oneor more other components directly.

Generally, the location controller 602 and/or the control circuit 702can comprise a fixed-purpose hard-wired platform or can comprise apartially or wholly programmable platform. These architectural optionsare well known and understood in the art and require no furtherdescription here. The location controller and/or control circuit can beconfigured (for example, by using corresponding programming as will bewell understood by those skilled in the art) to carry out one or more ofthe steps, actions, and/or functions described herein.

The location controller 602 receives one or more inputs corresponding toone or more motorized transport units and identifies a relevant locationof the one or more motorized transport units. The information may bereceived from the motorized transport unit, a movable item controller, auser interface unit 114, databases 126, video cameras 118, lightingsystem 616 and/or other such sources. Utilizing precise knowledge of theshopping facility and the layout of the shopping facility, and in someinstances product location information, the location controller isconfigured to determine a location of one or more motorized transportunits and/or movable item containers. For example, in some embodiments,one or more motorized transport units and/or movable item containers areconfigured to detect light from light sources of the lighting system 616and extract a unique light source identifier or other relevant locationinformation (e.g., area number, mapping or grid coordinate information,zone identifier, etc.) from the light detected from one or more lightsources. Similarly, in some embodiments, one or more of the motorizedtransport units and/or movable item containers are configured to measuredistances and provide relative distance information to the locationcontroller 602. Still further, in some implementations, one or more ofthe motorized transport units and/or movable item containers areconfigured to detect and/or read one or more location markers and/orcodes, and provide that information to the location controller.

FIG. 8 shows a simplified block diagram of an exemplary motorizedtransport unit 804, similar to the motorized transport unit in FIG. 4 ,in accordance with some embodiments, and includes the components of themotorized transport unit illustrated in FIG. 4 . Further, the motorizedtransport unit typically includes one or more sensors and/or measurementunits 414, such as but not limited to one or more distance measurementunits 808, light receiver units 804, optical and/or machine readablecode readers 806, other such measurement units, and typically acombination of such measurement units. Further, the motorized transportunit includes a locomotion systems 810 or motor controllers (such as amotorized wheel system 410), and may include one or more movementtracker units 812. Further, in some embodiments, the motorized transportunit 802 includes a tag 814 or other device that may be detectable, suchas by location tracking units distributed throughout the shoppingfacility, by one or more movable item containers 104, or other systemsof the shopping facility assistance system 100. In some embodiments, thetag 814 is an RFID tag or other tag, and can in some instances provide aunique identifier of the motorized transport unit 802.

The control circuit 406 typically comprises one or more processorsand/or microprocessors. Generally, the memory 408 stores the operationalcode or set of instructions that is executed by the control circuit 406and/or processor to implement the functionality of the motorizedtransport unit 802. In some embodiments, the memory 408 may also storesome or all of particular data that may be needed to make any of thedeterminations, measurements and/or communications described herein.Such data may be pre-stored in the memory or be determined, for example,from detected light, measurements, and the like, and/or communicated tothe motorized transport unit, such as from the movable item container104, a user interface unit 114, the location controller 602, othersource or combination of such sources. It is understood that the controlcircuit 406 and/or processor may be implemented as one or more processordevices as are well known in the art. Similarly, the memory 408 may beimplemented as one or more memory devices as are well known in the art,such as one or more processor readable and/or computer readable mediaand can include volatile and/or nonvolatile media, such as RAM, ROM,EEPROM, flash memory and/or other memory technology. Further, the memory408 is shown as internal to the motorized transport unit 802; however,the memory 408 can be internal, external or a combination of internaland external memory. Additionally, the motorized transport unittypically includes a power supply (not shown) or it may receive powerfrom an external source. While FIG. 8 illustrates the various componentsbeing coupled together via a bus, it is understood that the variouscomponents may actually be coupled to the control circuit 406 and/or oneor more other components directly.

Generally, the control circuit 406 and/or electronic components of themotorized transport unit 802 can comprise fixed-purpose hard-wiredplatforms or can comprise a partially or wholly programmable platform.These architectural options are well known and understood in the art andrequire no further description here. The motorized transport unit and/orcontrol circuit can be configured (for example, by using correspondingprogramming as will be well understood by those skilled in the art) tocarry out one or more of the steps, actions, and/or functions describedherein.

The control circuit 406 and the memory 408 may be integrated together,such as in a microcontroller, application specification integratedcircuit, field programmable gate array or other such device, or may beseparate devices coupled together. The I/O device 424 allows wiredand/or wireless communication coupling of the motorized transport unitto external components, such as the location controller 602, the userinterface units 114, the movable item containers 104, and other suchcomponents. Typically, the I/O device 424 provides at least wirelesscommunication, and in some instances may include any known wired and/orwireless interfacing device, circuit and/or connecting device, such asbut not limited to one or more transmitters, receivers, transceivers,etc. In some embodiments, a user interface 426 is included in and/orcoupled with the motorized transport unit 802, which may be used foruser input and/or output display. For example, the user interface 426may include any known input devices, such one or more buttons, knobs,selectors, switches, keys, touch input surfaces and/or displays, etc.Additionally, the user interface may include one or more output displaydevices, such as lights, visual indicators, display screens, etc. toconvey information to a user, such as status information, locationinformation, mapping information, product location information, productinformation, video content, other communication information (e.g., textmessages), operating status information, notifications, errors,conditions, shopping list, advertising, product recommendations, and/orother such information.

As introduced above, in some embodiments, the motorized transport unitincludes one or more distance measurement units 808 configured tomeasure relative distances between the motorized transport unit and oneor more external objects. For example, the distance measurement unit canbe used to measure relative distances between the motorized transportunit and a shelf or rack within the shopping facility, another motorizedtransport unit, a wall, a structural support column, movable itemcontainers, the customer associated with the motorized transport unit,other customers not associated with the motorized transport unit and/orsubstantially any other external object. In some implementations themotorized transport unit includes a laser distance measurement unit thatuses a laser to measure distances between the motorized transport unitand an external object. Further, in some embodiments, the motorizedtransport unit includes multiple distance measurement units positionedto measure distances around the motorized transport unit (e.g., fourdistance measurement units positioned with a first measuring in adirection of travel, a second measuring in a direction 180 degrees awayfrom the direction of travel, and third and fourth measuring at ninetydegrees from the direction of travel). In other implementations, one ormore distance measurement units may be capable of measure distances atmultiple different directions or angles. The measured relative distanceinformation can be communicated to the remote location controller 602allowing the remote location controller to track movement of themotorized transport unit and/or use the distance information todetermine a current and/or predicted location of the motorized transportunit.

One or more of the distance measurement unit or units 808 may include,in some embodiments, a light emitter and a light detector that detectslight reflected by one or more objects. For example, the distancemeasurement unit may comprise a laser emitter and detector that allowsfor accurate measurement of distances between the emitter and detector.The distance measurement unit can be configured to determine therelative distance from the light emitter to the external object. Thedistance measurement unit and/or the control circuit 406 may furthermodify distance information based on known dimensions of the motorizedtransport unit and/or a location of the detector relative to one or moreexterior surfaces of the motorized transport unit.

In some embodiments, the motorized transport unit 802 includes one ormore light receiver units and/or light source identifiers configured todetect light from one or more light sources (e.g., from the lightingsystem 616) and extract and/or determine a unique light sourceidentifier from the detected light. The light is typically received frompredefined light sources of the lighting system that emit light withencoded unique light source identifiers within the emitted light. Forexample, a plurality of light sources can be overhead lights mounted anddistributed across the ceiling of the shopping facility with the emittedlight being directed down toward the floor. Further, the light sourcescan emit visible light providing lighting within the shopping facility.Typically, the encoding is implemented such that it is not detectable tohumans. The light receiver unit 804 detects the light and extracts theunique light source identifier encoded in the emitted light. As afurther example, a signal can be encoded in the light output from one ormore LED or bulb light sources. The light receiver unit 804, which insome instances can comprise one or more cameras, light sensors,photodiodes, etc., detects and decodes this signal to obtain a lightsource identifier and/or location information that can be used indetermining a position relative to the light source. Similarly, otherlight receiver units or devices can alternatively or additionally beused such as a camera on a user interface unit 114, a light receiverunit on other devices (e.g., movable item container, detectors carriedby shopping facility associates, etc.) to detect the light sourceidentifiers and/or signals.

The detected light source identifier can then be communicated to thelocation controller 602 to potentially be used in determining a locationof the motorized transport unit based on a known location of the lightsource associated with the detected light source identifier. In otherimplementations, one or more light sources may be positioned closer tothe floor and direct light parallel to or at an angle to the floor.Often, the light receiver unit 804 is configured to detect light sourceidentifiers from multiple different light sources that in at least someinstances are simultaneously impinging on the light receiver unit and/orsimultaneously detectable by the light receiver unit 804. In someimplementations, the encoded information may provide locationinformation in addition to or in alternative to the light sourceidentifier. The location information can include, for examplecoordinates, grid information or other such information that typicallycorrespond with a shopping facility mapping. The location information tobe encoded may be programmed into the light sources at installation, orcommunicated from the location controller 602, the central computersystem 106 or other source.

The motorized transport unit 802 further includes the locomotion system810 that includes and controls one or more motors of the motorizedtransport unit to at least cause the motorized transport unit to movethroughout one or more areas within and/or exterior to the shoppingfacility. Typically, the locomotion system controls the one or moremotors in accordance with one or more commands, position information,mapping coordinates, destination locations and the like. In someembodiments, the location controller 602 and/or central computer system106 is configured to issue movement commands based on a determinedand/or predicted location of the motorized transport unit. Thelocomotion system 810 can control the one or more motors to implementthe one or more movement commands. In some embodiments, the motorizedtransport unit 802 further includes the movement tracker unit 812 thatis configured to track one or more parameters corresponding to themovement and/or orientation of the motorized transport unit. Forexample, the movement tracker unit may include and/or communicate withone or more accelerometers, gyroscopes, compass, wheel or tread velocityor rate meters, odometer based on wheel and/or tread movement, globalpositioning satellite (GPS) information, Wi-Fi signal evaluation, and/orother such movement parameters. These parameters can be used indetermining, predicting, and/or fine tuning a location of the motorizedtransport unit.

FIG. 9A shows a simplified overhead view of an exemplary layout of ashopping facility with multiple shelves 912, racks, or other suchproduct supporting and/or display structures (generally referred tobelow as shelves) separated by aisles or walkways, in accordance withsome embodiments. Further illustrated is a customer 916 proximate amovable item container 104 that is cooperated with a motorized transportunit configured, in part, to move the movable item container throughoutat least portions of the shopping facility. As introduced above, someshopping facilities include a lighting system 616 with multiple lightsources distributed throughout one or more areas of the shoppingfacility and that emit light that can be detected by the light receiverunit 804 of the motorized transport unit. FIG. 9A additionally showsexamples of illumination areas 918 each representative of an area thatis illuminated by separate light sources of the lighting system 616. Thelight receiver unit 804 detects the light from one or more light sourcesand extracts and/or identifies a unique light source identifier from thelight of each of the one or more light sources. In some embodiments, thelight sources encode the unique light source identifier through one ormore methods such as wavelength modulation, light intensity modulation,flashing, strobing or other such encoding. In some implementations, thelighting system 616 includes lighting from and/or controlled inaccordance with ByteLight, Inc. of Boston, Massachusetts.

Substantially any number of light sources can be incorporated into theshopping facility to provide corresponding light or illumination areas918. Similarly, the light sources are typically positioned such that theillumination areas 918 of two or more light sources overlap achievingoverlapping light areas 920. In some embodiments, the light receiverunit 804 is configured to detect and/or extract multiple different lightsource identifiers from an overlapping light area 920 corresponding tothe multiple light sources emitting the light creating the overlappinglight areas such that the light from multiple light sources aresimultaneously impinging on and/or detectable by the light receiverunit. FIG. 9B shows a simplified overhead view of an exemplary layout ofa shopping facility with multiple shelves 912 separated by aisles orwalkways with a larger number of illumination areas 918 and largernumber and area of overlapping light areas 920, in accordance with someembodiments. Further, in some instances, increased concentrations oflight sources may be positioned at areas of higher expected traffic,and/or for other reasons (e.g., other information that may be used todetermine location may not readily be available in some areas), whichmay result in increased numbers and/or areas of overlapping lightemitted from multiple light sources. Again, the overlapping light areasmay enhance the precision in the determined location of the motorizedtransport unit. Some embodiments associate the illumination areas 918with a mapping of the shopping facility providing a mapping of the lightpattern of at least some of the light sources, and/or establish aseparate mapping of the light pattern that can be associated with theshopping facility mapping.

In some embodiments, the one or more extracted light source identifiersare communicated from the motorized transport unit to the locationcontroller 602. The location controller can be configured with and/orhave access to detailed orientation information about the location,relative to at least the floor spacing and/or a mapping of the shoppingfacility, of each light source emitting light with an encoded lightsource identifier, and/or the area on the floor and/or within theshopping facility mapping of the illumination area 918. Utilizing theone or more light source identifiers, the location controller 602 candetermine a location of the motorized transport unit within a degree oferror, which can vary depending on the size of the illumination areas918, and the size of overlapping light areas 920. Typically, thelocation controller is capable of obtaining greater precision withgreater numbers of overlapping areas. Additionally or alternatively, insome embodiments, the motorized transport unit maintains some shoppingfacility mapping information and/or layout information, and can beconfigured to determine location information of the motorized transportunit.

FIGS. 9A-B further also show representative distance measurements 922being measured by one or more distance measurement units 808. Asdescribed above, the relative distance information obtained through thedistance measurements units can be communicated to the remote locationcontroller 602. The location controller 602 can utilize this distanceinformation in determining and/or predicting a location of the motorizedtransport unit.

Referring back to FIG. 8 , the motorized transport unit 802, in someembodiments, includes a machine readable code reader 806 (sometimesreferred to as a code reader) configured to detect and/or read machinereadable codes positioned and distributed throughout at least some ofthe areas into which the motorized transport unit is configured and/orauthorized to travel. The code reader 806 can be configured to extractcode information from the one or more machine readable codes that areread and/or detected, while in other embodiments, the control circuitextracts and/or identifies the code information. In some embodiments,the code reader reads and/or extracts code information corresponding toeach machine readable code of a plurality of unique machine readablecodes that are positioned at different locations distributed throughoutat least a portion of the shopping facility and detected by the codereader 806 of the motorized transport unit. The machine readable codereader 806 can be configured to optically read the machine readablecodes of a plurality of unique machine readable codes that arepositioned at different locations distributed throughout at least aportion of the shopping facility.

FIG. 10 illustrates an exemplary motorized transport unit (for example,motorized transport unit 802) positioned proximate a movable itemcontainer 104, with a machine readable code reader 806 of the motorizedtransport unit detecting a machine readable code 1012 of a plurality ofmachine readable codes spaced along a shelf 912, in accordance with someembodiments. Typically, each machine readable code is unique and/ordistinguishable from the other of the machine readable codes. In someimplementations, the machine readable codes 1012 can be positioned apredefined distance 1014 apart. Their positioning within the shoppingfacility and/or the mapping of the shopping facility can be known (atleast at the location controller 602), or other such positioninginformation or combinations of such positioning information may be knownor determined. The machine readable codes 1012 can be substantially anyrelevant machine readable code, such as but not limited to, twodimensional barcode, active radio frequency identifiers (RFID), nearfield communication (NFC) identifiers, ultra-wideband (UWB) identifiers,Bluetooth identifiers, images, or other such optically readable, radiofrequency detectable or other such code, or combination of such codes.In some instances, the machine readable code 1012 may be exclusivelyassociated with location, while in other instances, the machine readablecode may correspond to other purposes, such as product identificationcorresponding to product placed at that position on the shelf 912. Withdetailed knowledge of the products distributed throughout the shoppingfacility, the location controller may be configured to identify thelocation of the motorized transport unit based on the machine readablecodes that are used to identify products on the shelves 912.Additionally or alternatively, in some embodiments, the code reader 806comprises a camera, video camera or other image capturing unit that isconfigured to capture an image of the machine readable code 1012. Thecode reader 806, the control circuit 406 and/or the location controller602 can be configured to perform an evaluation on the image and/or videocaptured (e.g., image recognition) to determine relevant codeinformation. Similarly, the image capturing unit can be configured tocapture images of products on the shelves, predefined portions of ashelf, rack, endcap, marketing structure, or other such images that cansimilarly be evaluated. For example, in many embodiments, the locationcontroller 602 has detailed knowledge of product placement throughoutthe shopping facility for numerous products if not all of the productsavailable at the shopping facility relative to a layout and/or mappingof the shopping facility. Using an identification of one or moreproducts from a captured image the location controller may use thisproduct identifying information in estimating and/or predicting alocation of the motorized transport unit. Similarly, the productlocation information may be used independent of or in combination withone or more other information that can be used by the locationcontroller in determining a location of the motorized transport unit.

FIGS. 9A and 9B further illustrate one or more representative opticalscans 924, lights, radio signals, or the like that are used to read oneor more machine readable codes 1012. In some instances, for example, themotorized transport unit 802 includes one or more barcode readers thatare configured to detect bar codes positioned alone a base of theshelves 912 or just above floor level, typically at known and/or at oneof one or more predefined heights.

The obtained code information can be communicated from the I/O device424 of the motorized transport unit (e.g., through a wirelesstransceiver (e.g., Wi-Fi, Bluetooth, cellular, etc.)) to the locationcontroller 602 and/or the central computer system 106. The locationcontroller 602 again can be configured with and/or have access todetailed location, position and/or orientation information correspondingto each of the plurality of machine readable codes relative to at leastthe floor spacing and/or a mapping of the shopping facility. Further, insome embodiments, the location controller may take into considerationthe capabilities and/or limitations (e.g., range, angle, distance and/orother such limitations) of the machine readable code reader 806.Utilizing the code information, the location controller 602 candetermine a location of the motorized transport unit 802 within a degreeof error, which can vary depending on one or more factors, such as butnot limited to the limitations of the code reader 806, the number,placement, distribution and/or orientation of the machine readable codesand other such factors. Further, in some embodiments, the locationcontroller is capable of obtaining greater location precision bylocation information determined based on the machine readable codes inaddition to one other relevant location information, such as but notlimited to location information corresponding to one or more the lightsource identifiers, distance measurement information, GPS information,Wi-Fi information or other such information, and often a combination ofsuch location information. Further, the distance measurement unit, thelight receiver unit, code reader, movement tracker unit, and the likemay not perform evaluations and/or determinations. Instead, thesecomponents may simply forward relevant information to the controlcircuit where the control circuit can utilize the information to makethe relevant determinations and/or identifications (e.g., extract lightsource IDs, extract bar code information, determine relevant distance,determine movement and/or other such functions). In otherimplementations, the control circuit causes the processed or unprocessedinformation to the location controller for use by the locationcontroller.

Illustrated in FIGS. 9A-B and 10, in some embodiments as furtherdescribed herein, the movable item container 104 may additionally oralternatively include one or more components similar to the motorizedtransport unit, such as a light receiver unit 928, a machine readablecode reader 930 (sometimes referred to as a code reader), a userinterface 932 or user interface unit, or other such components orcombinations of such components. In some embodiments, the code reader930 of the movable item container 104 is used instead of the code reader806 of the motorized transport unit, while in other implementations maybe used in combination with the code reader 806 of the motorizedtransport unit.

In some embodiments, the motorized transport unit (and/or the movableitem container) is incapable of determining its own location and isdependent on the one or more commands from the location controller.Alternatively, however, some embodiments of the motorized transport unitmay optionally include an internal location controller 816 configured toallow the motorized transport unit to determine its own approximatelocation and/or provide feedback to the location controller 602. Theinternal location controller 816 may take some or all of the informationfrom one or more of the distance measurement unit 808, the lightreceiver unit 804, code reader 806, and/or movement tracker unit 812.Utilizing locally stored and/or remotely accessed mapping of theshopping facility, the internal location controller can determine and/orpredict a location of the motorized transport unit. In some instances,the locally determined location information can be compared withlocation information determined through the location controller 602.

Again, the motorized transport unit can be configured to communicate themeasured distance information, the unique light source identifier(s),the code information corresponding to one or more machine readablecodes, the movement tracking information and/or other such relevantinformation to the separate and remote location controller 602. Thelocation controller 602 receives communications from the motorizedtransport unit and extracts relevant location information. Typically,the location controller is in communication with multiple motorizedtransport units that operate at the shopping facility (e.g., more thanfour). Further, the location controller may receive additional locationinformation from other sources, such as from one or more movable itemcontainers 104, user interface units 114, video processing unit,shopping facility associate communications, RFID tag readers, sensors,or the like, or combinations of such information. In some instances, thelocation controller is further configured to determine additionallocation information, such as through the evaluation of video content,application of one or more movement prediction algorithms and the like.

The location controller obtains and/or extracts relevant locationinformation from the communications from the motorized transport unitand/or from other sources. The location controller can utilize therelevant location information in combination with detailed knowledge ofthe shopping facility (e.g., layout information, mapping information,coordinates, product placement within the shopping facility,advertisement placement, and/or other such information) in determining alocation of a relevant motorized transport unit. The location controllermay process some or all of the location information relevant to mappingin determining location information. For example, the locationcontroller can process the one or more unique light source identifiersand identify a location of the corresponding light source and/or acorresponding location of the illumination area 918. Similarly, thelocation controller can use the distance information to further defineand/or obtain a more precise location of the motorized transport unit(e.g., knowing that the motorized transport unit is within an areadefined by an illumination area 918, a more precise location can bedetermined based on distance measurements between the motorizedtransport unit and each of two shelves on opposing sides of themotorized transport unit). Still further precision may be determined inthe processing of the location information, such as identifying themotorized transport unit is within an overlapping light area 920 of twoor more light sources and/or the detection of code information from oneor more machine readable codes, in cooperation with distancemeasurements. Similarly, the movement tracking information may furtherbe used to obtain specific amounts of movement from one or more previouslocation determinations. Additionally, some embodiments utilize previouslocation information in cooperation with newly received locationinformation to adjust and/or clarify a determined location (e.g.,knowing from movement tracking information that the motorized transportunit traveled three inches and has now just detected entering anoverlapping light area 920, a more precise identification of locationmay be determined). In some embodiments, the location controller candetermine a location of the motorized transport unit to within two feet,and typically within less than half a foot. Further, when utilizing acombination of the location information, the location controller candetermine a location of the motorized transport unit to within less thanone inch, and in some instances to within less than 1/16 of an inch.Further, the location determination can be an automated process that iscontinuously performed such that a current location of the motorizedtransport unit is determined at least once every ten seconds, andtypically at least once every second. For example, in someimplementations, the location of the motorized transport unit can becontinuously determined four to ten times a second.

Again, in some embodiments, the location information received at thelocation controller may include code information (e.g., based on machinereadable codes 1012, images, product identification, etc.). Such codeinformation can be obtained from the communications from the motorizedtransport unit and/or other sources (e.g., user interface unit, movableitem container, etc.) that correspond to one or more specific machinereadable codes of a plurality of unique machine readable codes that arepositioned at different locations distributed throughout at least aportion of the shopping facility and detected by the motorized transportunit. Based on the code information relative to the mapping, a locationof the first machine readable code within the shopping facility can beidentified. The location controller can use this informationindividually or in combination with other location information indetermining, relative to the mapping of the shopping facility, thelocation of the motorized transport unit within the shopping facility.Again, typically multiple sources of location information are utilized,for example, determining a location as a function of at least one uniquelight source identifier, relative distance information and an identifiedlocation of one or more machine readable codes.

Some embodiments take into consideration communication connections withone or more wireless network access points or antennas. Informationregarding which of one or more wireless network access points themotorized transport unit is wirelessly coupled with can be communicatedto the location controller. This information can be communicated fromthe motorized transport unit or by the one or more network accesspoints. The location controller 602 can use the connection informationin determining a relative location of the motorized transport unitrelative to the shopping facility mapping. For example, a trilaterationand/or triangulation can be performed based on the connectioninformation, which can include signal quality information, signalstrength information and other such information about the wirelesscommunication provided through the one or more network access points. Insome instances, for example, location information can be determined bycalculating one or more distances and angles between two or morereference nodes or access points whose positions are known.

Other location identifying information may be detected and/or used todetermine location information and/or identify a location. For example,some embodiments utilize Bluetooth Low Energy Beacons (e.g., Bluetooth4.0), which may provide a low energy mode in which a beacon deviceand/or access point emits a signal that includes a unique identifier, amajor code, a minor code, a signal strength and/or other suchinformation. For example, some embodiments employ an iOS, Android orother such beacon receivers, which can be used to determine proximity tothe beacon (at an unknown, far, near or immediate distance), or todetermine precise location when correlating signals from multiplebeacons. Similarly, some embodiments may utilize audible, ultrasonic orother such sound beacons that transmit sound, ultrasound, etc. The soundbeacon can be detected by motorized transport unit 102, a user interfaceunit 114 or the like through an onboard microphone and audio signalprocessor. Some embodiments may utilize magnetic resonance. For example,a compass or other magnetically sensitive device or system can beincorporated with the motorized transport unit 102, movable itemcontainer 104, and/or user interface unit 114 to detect variations inthe magnetic fields (e.g., Earth's magnetic field, generated magneticfields, etc.). The detected changes can be used to determine locationwith respect to the shopping facility's structural, positioning ofmagnetic field generators, and/or mapping of magnetic field variationsthrough some or all of the shopping facility, and in some instancessurrounding area(s).

Further, some embodiments utilize dead reckoning. For example, themotorized transport unit, movable item container, user interface unit,etc. can leverage onboard accelerometers to detect orientation anddirection and speed of travel. As described above and further below,some embodiments utilize GPS. The motorized transport unit may include aGPS system or a smart device that enables GPS. Some embodiments mayutilize video recognition as at least part of the location informationthat is used to determine relative location. The shopping facility maybe configured to multiple cameras (within and without the shoppingfacility) that can be used in part to determine and/or confirm alocation of the motorized transport unit, movable item container orother objects. In instances, for example, the motorized transport unitmay include identifying markings (e.g., alphanumeric characters, code,coloring, etc.) that can be recognized and correlated to a location thatis captured by the video camera and/or surrounding markings, products,structures and the like. In some embodiments, a visual recognition canbe utilized. For example, the motorized transport unit can be configuredto visually recognize its location by comparing sensor input to knownimage information. Typically, one or more mappings (e.g.,two-dimensional, three-dimensional, grid, etc.). The two-dimensionalmapping can be used to identify and/or show horizontal location, whilethe three-dimensional mapping can be used to identify and/or showsvertical location as some shopping facilities have multiple levels. Asalso introduced above, some embodiments may utilize sign posts, locationtags and the like. These location sign posts, location tags, etc.(active RFID, NFC, UWB, Bluetooth, two-dimensional barcodes, images,etc.) can be placed throughout and around the shopping facility anddetected by the motorized transport unit, movable item container, userinterface unit and/or other devices. Again, some embodiments utilizelocation information from a combination of two or more of these sources,systems and/or techniques.

In some embodiments, the location controller 602 may additionally oralternatively receive information that can be used to determine locationfrom the movable item container 104 (e.g., an interface unit or othersmart unit cooperated with the movable item container). Further, in someinstances, the movable item container 104 communicates with themotorized transport unit and one or both can relay information to thelocation controller.

FIG. 11 shows a simplified block diagram of an exemplary movable itemcontainer 1104 and/or user interface unit of a movable item container,in accordance with some embodiments. The movable item container 1104 canincludes one or more control circuits 1102, one or more memory 1110, andone or more input/output (I/O) devices or interfaces 1124. Further, themovable item container may optionally also include one or more distancemeasurement units 1108, user interface 932, light receiver units 928,optical and/or machine readable code readers 930, movement tracker unit1118, or a combination thereof. Further, in some embodiments, themovable item container includes one or more tags 1114 or other devicethat can be detected by the motorized transport unit or other systems ofthe shopping facility assistance system 100. In some embodiments, thetag 1114 is an RFID tag or other tag, and can in some instances providea unique identifier of the movable item container 1104.

The control circuit 1102 of the movable item container typicallycomprises one or more processors and/or microprocessors. Generally, thememory 1110 stores the operational code or set of instructions that isexecuted by the control circuit 1102 and/or processor to implement thefunctionality of the movable item container 1104. In some embodiments,the memory 1110 may also store some or all of particular data that maybe needed to make any of the determinations, measurements and/orcommunications described herein. Such data may be pre-stored in thememory or be determined, for example, from detected light, measurements,and the like, and/or communicated to the movable item container 1104,such as from the motorized transport unit, a user interface unit 114,the location controller 602, other source or combination of suchsources. It is understood that the control circuit 1102 and/or processormay be implemented as one or more processor devices as are well known inthe art. Similarly, the memory 1110 may be implemented as one or morememory devices as are well known in the art, such as one or moreprocessor readable and/or computer readable media and can includevolatile and/or nonvolatile media, such as RAM, ROM, EEPROM, flashmemory and/or other memory technology. Further, the memory 1110 is shownas internal to the movable item container 1104 and/or an interface unitcooperated with the movable item container; however, the memory 1110 canbe internal, external or a combination of internal and external memory.Additionally, a power supply (not shown) is typically included to powerone or more of the components, or power may be received from an externalsource. While FIG. 11 illustrates the various components being coupledtogether via a bus, it is understood that the various components mayactually directly couple with the control circuit 1102 and/or one ormore other components.

Generally, the control circuit 1102 and/or electronic components of themovable item container 1104 can comprise fixed-purpose hard-wiredplatforms or can comprise a partially or wholly programmable platform.These architectural options are well known and understood in the art andrequire no further description here. The motorized transport unit and/orcontrol circuit can be configured (for example, by using correspondingprogramming as will be well understood by those skilled in the art) tocarry out one or more of the steps, actions, and/or functions describedherein.

The control circuit can be configured, in part, to provide overallcontrol and/or coordinate operation of the components of the movableitem container. For example, the control circuit can instruct and/oractivate one or more transmitters, receivers, transceivers of the I/Odevice 1124 to communicate with the location controller 602, the centralcomputer system 106 of the shopping facility assistance system 100, oneor more the motorized transport units, user interface units 114, and thelike. As another example, the control circuit may activate the lightreceiver unit 928, the code reader 930 or other components, which may beinitiated in response to instructions from the location controller 602,a motorized transport unit, the user interface unit 114 or other device.

The distance measurement unit 1108 is configured to measure relativedistances between the distance measurement unit and/or the movable itemcontainer 1104 and external objects. This distance information can beprovided to the location controller and used in determining a locationof the movable item container and/or a motorized transport unitcooperated with the movable item container. In some embodiments, thedistance measurement unit 1108 is similar to the distance measurementunit 808 of the motorized transport unit.

In some embodiments, the distance measurement unit 1108, the lightreceiver unit 928, code reader 930 and movement tracker unit 1118 can beconfigured to operate similar to the distance measurement unit 808, thelight receiver unit 804, code reader 806 and movement tracker unit 812of the motorized transport unit 802, and provide similar distance, lightsource identifier, code and/or movement information.

Further, one or more of the distance measurement unit 1108, the lightreceiver unit 928, code reader 930 and movement tracker unit 1118 of themovable item container 1104 can be configured to operate independent ofor in cooperation with one or more of the distance measurement unit 808,the light receiver unit 804, code reader 806 and movement tracker unit812 of a motorized transport unit. For example, the light receiver unit928 may be configured to operate in place of the light receiver unit 804of a motorized transport unit when the motorized transport unit iscooperated with the movable item container because the sensors of thelight receiver unit 804 of the motorized transport unit may beobstructed by the movable item container 1104 (e.g., the motorizedtransport unit may be configured to partially or fully position itselfunder the movable item container). Similarly, the distance measurementunit 1108 of the movable item container 1104 may be activated inresponse to an obstruction being detected by the motorized transportunit that is interfering with measurements by the distance measurementunit 808 of the motorized transport unit.

In some embodiments, the movable item container may optionally includean internal location controller 1116. Similar to the internal locationcontroller 816 of a motorized transport unit, the internal locationcontroller 1116 can be configured to determine an approximate locationof the movable item container 1104 and/or provide feedback to thelocation controller 602. The internal location controller 1116 may takesome or all of the information from one or more of the distancemeasurement unit 1108, the light receiver unit 928, code reader 930,and/or movement tracker unit 1118. Utilizing locally stored and/orremotely accessed mapping of the shopping facility, the internallocation controller can determine and/or predict a location of themovable item container. In some instances, the locally determinedlocation information can be compared with location informationdetermined through the location controller 602.

In some embodiments, the user interface 932 is included and/or coupledwith the movable item container, which may be used for user input,output audio and/or output display. For example, the user interface 932may include any known input devices, such one or more buttons, knobs,selectors, switches, keys, touch input surfaces, audio input and/ordisplays, etc. Additionally, the user interface may include one or moreoutput display devices, such as lights, visual indicators, displayscreens, etc. to convey information to a user, such as statusinformation, location information, mapping information, product locationinformation, product information, directions (e.g., to a product, to aparking space where customer parked, etc.), video content, othercommunication information (e.g., text messages), operating statusinformation, notifications, errors, conditions, shopping list,advertising, product recommendations, video content, communications withother individuals (e.g., face time or other visual view of one or moreremote individuals, shopping facility associates, etc.), and/or othersuch information. In some implementations, at least a portion of theuser interface 932 is positioned on the movable item container to bereadily viewed and accessed by the customer. For example, at least aportion of the user interface 932 may be mounted on a handle bar of themovable item container that is used by the customer to push the movableitem container through the shopping facility. In many instances, thismakes the user interface 932 of the movable item container more visibleand accessible to the customer than a user interface on the motorizedtransport unit. Accordingly, the user interface 932 cooperated with themovable item container may be used instead of the motorized transportunit when the motorized transport unit is cooperated with a movable itemcontainer.

Location parameters and/or information that can be utilized in determinea location of the motorized transport unit and/or movable item containermay also be obtained and/or received from other sources. For example, insome embodiments, information may be provided by the portable userinterface unit 114, from cameras and/or other sensors distributedthrough the shopping facility, and other such sources. As anotherexample, one or more RFID tags may be associated with each motorizedtransport unit 102 and/or the movable item containers. RFID tag sensorsor readers can be positioned at one or more locations within and/orexterior to the shopping facility. With knowledge of a range and/orusing signal quality and strength, a general location (e.g., within asix foot radius) of the motorized transport unit or movable itemcontainer may be determined and/or used in cooperation with otherinformation in determining a more precise location. In some instances,the user interface unit 114 may be activated by a user, for example,through the activation of application software and/or program (APP) thatcauses one or more cameras on the user interface unit to operate tocapture images and/or video in attempts allow the user interface unit tooperate similar to or the same as the light receiver unit 804 of themotorized transport unit in detecting unique light source identifiers.Similarly, the user interface unit may utilize the camera to captureimages of machine readable codes that can be forwarded to the locationcontroller and/or to operate similar to the code reader 806. Stillfurther, the user interface unit may track a current location throughGPS, triangulation or the like based on signals from and/or to one ormore wireless network access points, or other such information orcombinations of such information. In some instances, the user interfaceunit may be configured to take distance measurements that can becommunicated to the location controller.

This additional information may be utilized by the location controller602 in determining a location of the motorized transport unit and/ormovable item container. Further, as described above, sensors, camerasand the like may be distributed through the shopping facility andexterior to the shopping facility. Information from the sensors andcameras can be used in determining a location of the motorized transportunit. In some instances, the motorized transport unit and/or the movableitem container may include unique markings (e.g., unique numbering,color combination, and/or other such markings). Video content can beevaluated by a video processor of the location controller 602 orexternal to the location controller to identify the motorized transportcontainers and/or movable item containers within the video content.Based on the camera capturing the image and other information that maybe extracted from the image (e.g., recognition of products on a shelf,other shelf identifiers (e.g., numbers or the like labeled on a top ofthe shelves), and other such identifiers, a location of the motorizedtransport unit may be determined within a margin of error. Again, thelocation information obtained from the video information may be used incombination with one or more other location information to obtain a moreprecise location of the motorized transport unit.

FIG. 12 shows a simplified flow diagram of an exemplary process 1210 ofdetermining a location and/or controlling movement of the motorizedtransport unit, movable item container, customer, user interface unit114, or other such object, in accordance with some embodiments. Belowthe process 1210 is described with reference to determining a locationof the motorized transport unit. It will be appreciated by those skilledin the art that similar steps can be performed to determine the locationof a movable item container (e.g., movable item container 104), a userinterface unit 114, a customer, or the like. In step 1212, one or morecommunications are received at the location controller 602, which isseparate and distinct from the self-propelled motorized transport unitthat is located relative to a shopping facility. The communications canbe received from one or more motorized transport unit, movable itemcontainers 104, user interface units 114, video camera 118 and/or videosystem, or other such sources.

In step 1214, one or more unique light source identifiers and/or otherlocation information (e.g., area identifier, grid identifier, mapcoordinate information, grid coordinate information, etc.) are obtainedfrom the communications. Typically, the light source identifiers eachexclusively correspond to one light source within the shopping facilityfrom light emitted by the light source, and obtained from the lightdetected by the motorized transport unit, movable item container, userinterface unit, etc. As described above, in some embodiments the lightfrom the one or more light sources is detected through a light receiverunit of the motorized transport unit, and the unique light sourceidentifier from the detected light of each light source is extracted atthe motorized transport unit. In some embodiments, relative distanceinformation is additionally or alternatively obtained from thecommunications. The distance information can include one or moredistance measurements determined by the motorized transport unit throughan optical measurement corresponding to a distance between the motorizedtransport unit and an external object. For example, the relativedistance between the motorized transport unit and the external objectcan be determine through a distance measurement unit of the motorizedtransport unit. The external object can be substantially any object,such as a shelf, rack, customer, movable item container, wall, and thelike. Additionally or alternatively, in some embodiments codeinformation is obtained from the communications or separatecommunications. The code information corresponds to one or more machinereadable codes of a plurality of unique machine readable codespositioned at different locations distributed throughout at least aportion of the shopping facility and detected by the motorized transportunit, the movable item container 104, the user interface unit 114 or thelike. For example, the machine readable code can be optically readthrough a machine readable code reader of the motorized transport unit,and the code information can be identified and/or extracted at themotorized transport unit. The motorized transport unit can transmit thecommunications comprising the light source identifier, the relativedistance, the code information, and/or other information, and typicallya combination of two or more of such information.

In step 1216, the at least one unique light source identifier and/or therelative distance information are processed relative to a mapping of theshopping facility. In some embodiments, a location of the one or moremachine readable codes is identified based on the identified codeinformation relative to the mapping. The location of the one or moremachine readable codes can be interior to the shopping facility, but insome instances may be exterior to the shopping facility. In step 1218, alocation is determined, in response to the processing, of the motorizedtransport unit within the shopping facility as a function of the atleast one unique light source identifier and the relative distanceinformation. Some embodiments, in determining the location of themotorized transport unit further determine, relative to the mapping ofthe shopping facility, the location of the motorized transport unitwithin the shopping facility as a function of a combination of at leasttwo of: the one or more unique light source identifiers, the relativedistance information and the identified location of the one or moremachine readable codes.

In some embodiments, the location controller 602 and/or the centralcomputer system 106 determine, relative to the mapping and thedetermined location of the motorized transport unit, one or moremovement commands to control movement of the motorized transport unit tocause the motorized transport unit to move in a desired direction. Theone or more movement commands can be communicated (e.g., wirelesslytransmitted) to the motorized transport unit to cause the motorizedtransport unit to control its movements in accordance with the movementcommands. Further, some embodiments determine a destination locationwithin the shopping location. A route or path can be identifying,relative to the mapping, between the determined location of themotorized transport unit and the destination location. One or moremovement commands can be determined to control movement of the motorizedtransport unit to cause the motorized transport unit to move to thedestination location, which can be in accordance with the determinedroute. The one or more movement commands can be transmitted to themotorized transport unit to cause the motorized transport unit tocontrol its movements in accordance with the movement commands. Forexample, a communications transceiver can be activated to transmit oneor more movement commands (e.g., the control circuit 702 of the locationcontroller and/or the central computer system 106 of the shoppingfacility assistance system 100 can cause a transceiver to communicateone or more commands).

In some embodiments, the motorized transport unit receives light sourceidentifiers and/or location transmissions from one or more light sources(e.g., LED lights) through the light receiver unit 804 (e.g., a photoeye, one or more photodiodes, etc.). The light source identifiers and/orlocation information can be sent to the location controller 602.Further, in some embodiments, the customer's mobile user interface unit114 activates a camera, photo eye, photodiode array, etc. to detectand/or receive light source identifiers and/or location transmissionsfrom the light sources, which can also be communicated (e.g., Wi-Fi,Bluetooth, cellular) to the location controller 602. The motorizedtransport unit, the movable item container 104, user interface unit 114or the like can read one or more machine readable codes 1012, signposts,location tags or the like to obtain code information and/or receiverelevant location information or data.

In some implementations, the location controller 602 links a customer toa motorized transport unit and/or movable item container. A map can bedisplayed on the motorized transport unit, movable item container and/orthe customer's mobile user interface unit 114 (e.g., through an APP)indicating where the customer is currently located and where themotorized transport unit and/or movable item container is currentlylocated. As described above, orientation information can be determinedby the motorized transport unit through the use of GPS, compass,gyroscope, motion tracking and the like. The location controller candetermine a route between the customer and the motorized transport unit,a desired destination, a desired product and the like, and using theshopping facility mapping can issue commands to navigate one or both ofthe customer and the motorized transport unit towards each other, whichmay be based upon a determined most efficient pathway, based ondirecting a customer through relevant portions of the shopping facility(e.g., based on products), or the like. In some embodiments, themotorized transport unit incorporates semi-autonomous location servicesbased on, for example, Simultaneous Location and Mapping (SLAM)algorithms or similar services. Location data is typically continuouslyupdated by analyzing sensory input and comparing to available map data.The resulting self-maintained location data can improve accuracy andprovide a level of fault tolerance.

In some embodiments, the shopping facility and/or the locationcontroller have certain authorized areas designated for the motorizedtransport unit. Accordingly, when a customer enters such an area thatthe motorized transport unit is prohibited from entering the motorizedtransport unit will, in some instances, wait for the customer to leavethe prohibited area, and may notify the customer as the customer entersthose areas that it is prohibited from entering that area.

Some embodiments establish geographic location capabilities for themotorized transport unit, the movable item container, the customer, userinterface unit 114, or other devices or objects at the shoppingfacility. Further, some embodiments utilize and/or establish a mappingof light sources (e.g., LED light transmissions) to a two-dimensionalmap of the shopping facility, and potentially surrounding areas (e.g.,parking lot, loading dock, delivery bay, and the like). Further, objectswithin an area may also be mapped and associated with relevant and/orproximate light sources or illumination areas 918. Devices that receivelight source transmissions (e.g., motorized transport unit, movable itemcontainer, user interface units 114, etc.) are able to transmit back thelight source identifier or location number to the location controller602. Using this light source identifier information, the locationcontroller can identify a relevant location on a two-dimensional mapand/or grid map.

The determined location of one or more motorized transport units,movable item containers, customers, shopping facility colleagues,associates and other objects allows the location controller to knowwhere they are located, and/or allow find each other motorized transportunits, movable item containers, customers, shopping facility colleaguesand associates to find each other. In some instances, multiple motorizedtransport units, movable item containers, customers, shopping facilitycolleagues and/or associates can be configured and instructed tocooperatively work together (e.g., as a team) to accomplish tasks thatare assigned. In some embodiments, it is beneficial when the motorizedtransport units know where a customer associated to that motorizedtransport unit is located relative to a location of the motorizedtransport unit, and/or where one or more other motorized transportunits, movable item containers, associates, etc. are located. Forexample, an instruction may be broadcasted to multiple motorizedtransport units, and the motorized transport unit or units nearest theproject to be performed can accept the task or tasks for which it isbest suited, based on its proximity or capability for the work. In otherembodiments, the location controller 602 and/or the central computersystem 106 of the shopping facility assistance system 100 can identify atask to be performed, and with knowledge of current locations ofmotorized transport units and their relevant capabilities can select andassign one or more specific motorized transport units to perform thedesire task or tasks. In some implementations, multiple motorizedtransport units will be stationed throughout the shopping facility(inside, in the parking lot, in a storage area, at a loading dock,etc.), waiting for commands or instructions, or roaming assigned areasattempting to locate tasks to be performed. Accordingly, in someembodiments, the motorized transport units comprise high functionalityand/or progressively intelligent systems with capabilities integrating“smart devices”, Internet, cellular communication services, indoor andoutdoor location determination technology, and many other featuresproviding safe and fun customer, member, colleague, associateinteraction. Further, in some embodiments, the location controller 602,the motorized transport unit and/or the movable item container arecapable of determining a location through geo-location technology, acentral computer system, video analytics, three-dimensional mapping,two-dimensional shopping facility mapping and/or other such information.

Further, the motorized transport unit and the movable item containersmay be configured for used both inside and outside of the shoppingfacility. According, the location controller utilizes relevant locationinformation from one or more of the motorized transport units, movableitem containers, user interface units 114, sensors, video data, or othersuch information and typically a combination of such information tosupport precise indoor and outdoor positioning. Outdoor positioning maytake advantage of GPS, Standard Positioning Service (SPS) as well asother location information. The nominal accuracy of GPS and/or SPSreceivers, however, is often within a margin of error of +/−3 meters. Assuch, some embodiments utilize additional location information acquiredthrough one or more cost-effective position augmentation systems. Asdescribed above, one or more of these cost-effective positionaugmentation systems can be incorporated into the motorized transportunit, movable item container, user interface unit 114 and other suchdevices. The location determination in part allows for precision controlof the motorized transport units, and can further enhance guidedtracking, movement commands, obstacle avoidance (e.g., people, vehicles,other carts, trash cans, curbs, etc.), and other such control.

The location determination, in some embodiments further determined acurrent environment in which the motorized transport unit is positioned(e.g., based on a map). Further, a position within the environment(e.g., indoor, outdoor, gardening section, etc.) can be determined. Insome embodiments, an orientation of the motorized transport unit and/orthe customer are considered (e.g., north, south, east, west, etc.).Similarly, a direction of travel and/or speed may be considered. Someembodiments additionally consider how far away the motorized transportunit is away from an assigned or associated customer, colleague,associate, etc. (e.g., customer, colleague, or associate may be movingabout the shopping facility). In some embodiments, a destination mayfurther be taken into consideration in location determination,predication and/or routing. Some embodiments take into considerationpotential errors and/or error conditions (e.g., positioning errors,mapping inaccessible or is incorrect, communication errors, etc.). Thelocation determination typically takes into consideration two or moretypes of location information. For example, the location controller 602can consider location information based on visible light communication,Bluetooth low energy beacons, audible beacons, ultrasonic beacons,magnetic resonance, dead reckoning, GPS, Nationwide Differential GPS(NDGPS), Wide Area Augmentation System (WAAS), video recognition,two-dimensional and/or three-dimensional maps, Near Field Communications(NFC), Ultrawide Band (UWB), Radio Frequency Identification (RFID),trilateration and/or triangulation, Received Angle of Arrival (RAOA),sign posts and/or location tags (e.g., active RFID, NFC, UWB, Bluetooth,two-dimensional barcodes, images, etc.), and other such locationinformation.

FIG. 13 shows simplified exemplary processes that may be utilized indetermining a location of at least a motorized transport unit, inaccordance with some embodiments. Motorized transport units are obtainedand configured for operation at the shopping facility. This can includeprogramming, registering and/or other set-up. Typically, the locationcontroller 602 and/or the central computer system 106 store relevantinformation about each motorized transport unit (e.g., unique identifierinformation, naming, communication protocols and/or set-up information,and other such information). Shopping facility mapping information isstored and accessible by the location controller 602 and/or the controlcircuit. In some instances, a shopping facility associate obtains and/orsets up the shopping facility mapping, which may include performingmeasurements, utilizing one or more motorized transport units to providedistance and/or measurements, and other such information.

In operation, the motorized transport unit obtains location information,such as detecting light source identifiers, communications from lightsources, distance measurement information, code and/or image recognitioninformation, or other such information, and typically a combination ofsuch information. This location information is communicated to thelocation controller 602 and utilized to determine a location of themotorized transport unit, at least with respect to the shopping facilitymapping information.

The central computer system 106 further receives requests from customersto sign up to use the motorized transport unit and/or request to beassociated with a motorized transport unit. In some implementations auser submits the registration and/or request through an APP on thecustomer's mobile user interface unit 114. Additionally oralternatively, a kiosk or other such system may be provided at theshopping facility to allow the customer to register. Similarly, thecustomer may register through a remote user interface unit, such as ahome computer, and may in some implementations reserve a motorizedtransport unit.

As described above, in some embodiments the customer's user interfaceunit 114 (and/or other devices such as the movable item container 104)may detect and/or acquire location information. For example, the one ormore cameras of a user interface unit may be activated through and APPto detect light source identifiers and/or communications from lightsources. Similarly, the user interface unit may capture video that maybe forwarded to the motorized transport unit and/or location controller,which may be used in determining a location of the user interface unitand/or the motorized transport unit. Further, some embodiments determinea location of the customer upon receiving a request to be associatedwith and use a motorized transport unit. As such, the customer's userinterface unit can provide relevant location information (e.g., GPS,light source identifiers, triangulation, other such information, orcombinations of such information). The location controller can utilizethis information to determine a location of the motorized transportdevice and/or the customer. In some instances, the location controllerdetermines a route or path between the motorized transport unit and thecustomer. The route may be configured to direct the customer throughareas of the shopping facility that may be of more interest to thecustomer and/or where products are placed that the customer is morelikely to purchase. The location controller can provide relevantinformation, such as directions, movement commands, mapping coordinateinformation, animation information to be displayed and/or other suchinformation to the customer's user interface unit and/or the motorizedtransport unit in an effort to bring the customer and the associatedmotorized transport unit together. As the customer and/or the motorizedtransport unit move through the shopping facility, the locationinformation is automatically and typically continuously updated.Further, the location controller can update a determined location of themotorized transport unit and/or the customer, update routes, redirectone or both the customer and the motorized transport unit, and takeother actions.

Further, in some instances, the location information may be updated overtime. For example, the mapping can be updated based on repeatedinformation and/or the determination of object within the shoppingfacility. Errors may be identified relative to location information andmodifications made to correct or compensate for such errors. Othermodifications can be made over time in attempts to enhance the locationdetermination. In some instances, for example, the location controllercan adjust a mapping based on repeated location information obtainedfrom one or more motorized transport units.

The determined location supports many situations, including shopping,stocking, delivering, searching, alerting, and communicating. It hasbeen recognized that, in at least some instances, it can be beneficialto provide mobility support for customers, shopping facility associatesand the like. Utilizing the determined location information, moreprecise control can be provided to at least the motorized transportunit, and provide can take improve the shopping experience and/orself-service shopping to new levels of convenience. It can furtherprovide increases in productivity in a shopping facility distributioncenter, and/or the like enabling teams to carry out more value addactivities.

It is noted that the above description generally refers to shoppingfacilities; however, it will be appreciated by those skilled in the artthat the location determination and/or control is not limited toshopping facilities, but can be extended to other facilities, such asdistribution centers, shopping home office campuses or the like.

In some embodiments, apparatuses and methods are provided that providecontrol over movement of a motorized transport unit within a shoppingfacility. In some embodiments, an apparatus providing control overmovement of a motorized transport unit within a shopping facility,comprises: a location controller separate and distinct from aself-propelled motorized transport unit, wherein the location controllercomprises: a transceiver configured to receive communications from themotorized transport unit located within a shopping facility; a controlcircuit coupled with the transceiver; a memory coupled to the controlcircuit and storing computer instructions that when executed by thecontrol circuit cause the control circuit to perform the steps of:obtain, from the communications received from the motorized transportunit, a unique light source identifier of a light source within theshopping facility detected by the motorized transport unit from lightemitted by the light source, and relative distance informationdetermined by the motorized transport unit through an opticalmeasurement corresponding to a distance between the motorized transportunit and an external object; process the at least one unique lightsource identifier and the relative distance information relative to amapping of the shopping facility; and determine, in response to theprocessing, a location of the motorized transport unit within theshopping facility as a function of the at least one unique light sourceidentifier and the relative distance information.

In some embodiments, the control circuit is further configured to:obtain, from the communications from the motorized transport unit, firstcode information corresponding to a first machine readable code of aplurality of unique machine readable codes that are positioned atdifferent locations distributed throughout at least a portion of theshopping facility and detected by the motorized transport unit;identify, based on the first code information relative to the mapping, alocation of the first machine readable code within the shoppingfacility; and determine, relative to the mapping of the shoppingfacility, the location of the motorized transport unit within theshopping facility as a function of the at least one unique light sourceidentifier, the relative distance information and the identifiedlocation of the first machine readable code. In some embodiments, thecontrol circuit is further configured to: determine, relative to themapping and the determined location of the motorized transport unit, oneor more movement commands to control movement of the motorized transportunit to cause the motorized transport unit to move in a desireddirection; and cause the transceiver to transmit the one or moremovement commands to the motorized transport unit to cause the motorizedtransport unit to control its movements in accordance with the movementcommands. In some embodiments, the control circuit is further configuredto: determine a destination location within the shopping location;identify, relative to the mapping, a route between the determinedlocation of the motorized transport unit and the destination location;identify one or more movement commands to control movement of themotorized transport unit to cause the motorized transport unit to moveto the destination location; and cause the transceiver to transmit theone or more movement commands to the motorized transport unit to causethe motorized transport unit to control its movements in accordance withthe movement commands. In some embodiments, the control circuit, inobtaining the at least one unique light source identifier, is furtherconfigured to obtain from the communications multiple unique lightsource identifiers detected by the motorized transport unit from lightemitted from multiple separate light sources simultaneously impinging ona detector of the motorized transport unit; wherein the control circuitin determining the location of the motorized transport unit is furtherconfigured to determine the location of the motorized transport unit asa function of the multiple unique light source identifiers. In furtherembodiments, the control circuit, in determining the location of themotorized transport unit is further configured to identify, relative tothe mapping, a location of an overlapping light area of the lightemitted from the multiple light sources wherein the multiple lightsources are ceiling mounted overhead lights. In some embodiments, theapparatus further comprises: the motorized transport unit located withinthe shopping facility, wherein the motorized transport unit comprises: alight receiver unit configured to detect the light from the light sourcewithin the shopping facility and extract the unique light sourceidentifier from the detected light; a distance measurement unitcomprising a light emitter and a light detector, wherein the distancemeasurement unit is configured to determine the relative distance fromthe light emitter to the external object; and a communicationtransmitter configured to transmit the communications comprising atleast the light source identifier and the relative distance. In furtherembodiments, the motorized transport unit further comprises a machinereadable code reader configured to optically read a first machinereadable code of a plurality of unique machine readable codes that arepositioned at different locations distributed throughout at least aportion of the shopping facility; wherein the control circuit is furtherconfigured to: obtain, from the communications from the motorizedtransport unit, the first code information; identify, based on the firstcode information relative to the mapping, a location of the firstmachine readable code within the shopping facility; and determine,relative to the mapping of the shopping facility, the location of themotorized transport unit within the shopping facility as a function ofthe at least one unique light source identifier, the relative distanceinformation and the identified location of the first machine readablecode. In some embodiments, the control circuit, in determining thelocation of the motorized transport unit, is further configured to:obtain an additional unique light source identifier from light emittedby an additional light source within the shopping facility and detectedby a light receiver unit positioned on a movable item containerremovably coupled with the motorized transport unit configured to bemoved by the motorized transport unit through at least a portion of theshopping facility; process the additional unique light source identifierand determine, relative to the mapping, a location within the mapping ofa light pattern of the additional light source; and determine, inresponse to the processing, the location of the motorized transport unitwithin the shopping facility as a function of the at least one uniquelight source identifier, the relative distance information and thelocation within the mapping of the light pattern.

In some embodiments, an apparatus providing control over movement of amotorized transport unit within a shopping facility, comprises: aself-propelled motorized transport unit within a shopping facility,wherein the motorized transport unit comprises: a light receiver unitconfigured to detect light from one or more external light sourceswithin a shopping facility and extract at least one unique light sourceidentifier from the detected light; a distance measurement unitcomprising a light emitter and a light detector, wherein the distancemeasurement unit is configured to determine, as a function of lightdetected from the light emitter, a relative distance from the lightemitter to one or more remote objects; a control circuit; and a memorycoupled to the control circuit and storing computer instructions thatwhen executed by the control circuit cause the control circuit tocontrol movement of the motorized transport unit as a function of alocation of the motorized transport unit determined relative to amapping of the shopping facility and based on the at least one lightsource identifier and the relative distance.

In some embodiments, the motorized transport unit further comprises amachine readable code reader configured to read a first machine readablecode of a plurality of unique machine readable codes that are positionedat different locations distributed throughout at least a portion of theshopping facility, and to extract a first code information correspondingto the first machine readable code; wherein the control circuit incontrolling the movement of the motorized transport unit is furtherconfigured to control the movement of the motorized transport unit as afunction of the location of the motorized transport unit determinedbased on a location of the first machine readable code relative to themapping and the at least one light source identifier and the relativedistance. In some embodiments, the motorized transport unit furthercomprises: a communication transceiver configured to transmit the atleast one light source identifier and the relative distance, and toreceive one or more commands from a location controller that is separateand remote from the motorized transport unit and configured to determinethe location of the motorized transport unit relative to the mapping asa function of the at least one light source identifier and the relativedistance; and wherein the control circuit is further configured toimplement the one or more commands to move the motorized transport unitin accordance with the one or more commands. In further embodiments, themotorized transport unit is incapable of determining its own locationand is dependent on the one or more commands from the locationcontroller. In further embodiments, the apparatus further comprises: thelocation controller separate from the motorized transport unit, whereinthe location controller comprises: a transceiver configured to receivethe at least one light source identifier and the relative distance; asecond control circuit coupled with the transceiver; a second memorycoupled to the second control circuit and storing computer instructionsthat when executed by the second control circuit cause the secondcontrol circuit to perform the steps of: process the at least one lightsource identifier and the relative distance relative to a mapping of theshopping facility; determine, in response to the processing the at leastone light source identifier and the relative distance, the location ofthe motorized transport unit within the shopping facility; andidentifying the one or more commands as a function of the determinedlocation of the motorized transport unit. In some embodiments, thecontrol circuit is further configured to perform the steps of: processthe at least one light source identifier and the relative distancerelative to a mapping of the shopping facility; determine, in responseto the processing the at least one light source identifier and therelative distance, the location of the motorized transport unit withinthe shopping facility.

In some embodiments, a method of controlling movement of a motorizedtransport unit within a shopping facility, comprises: receiving, at alocation controller separate and distinct from a self-propelledmotorized transport unit located within a shopping facility,communications from the motorized transport unit; obtaining from thecommunications a unique light source identifier of a light source withinthe shopping facility detected by the motorized transport unit fromlight emitted by the light source, and relative distance informationdetermined by the motorized transport unit through an opticalmeasurement corresponding to a distance between the motorized transportunit and an external object; processing the at least one unique lightsource identifier and the relative distance information relative to amapping of the shopping facility; and determining, in response to theprocessing, a location of the motorized transport unit within theshopping facility as a function of the at least one unique light sourceidentifier and the relative distance information.

In some embodiments, the method further comprises: obtaining, from thecommunications received from the motorized transport unit, first codeinformation corresponding to a first machine readable code of aplurality of unique machine readable codes positioned at differentlocations distributed throughout at least a portion of the shoppingfacility and detected by the motorized transport unit; and identifying,based on the first code information relative to the mapping, a locationof the first machine readable code within the shopping facility; whereinthe determining the location of the motorized transport unit furthercomprises determining, relative to the mapping of the shopping facility,the location of the motorized transport unit within the shoppingfacility as a function of the at least one unique light sourceidentifier, the relative distance information and the identifiedlocation of the first machine readable code. In some embodiments, themethod further comprises: determining, relative to the mapping and thedetermined location of the motorized transport unit, one or moremovement commands to control movement of the motorized transport unit tocause the motorized transport unit to move in a desired direction; andtransmitting the one or more movement commands to the motorizedtransport unit to cause the motorized transport unit to control itsmovements in accordance with the movement commands. In some embodiments,the method further comprises: determining a destination location withinthe shopping location; identifying, relative to the mapping, a routebetween the determined location of the motorized transport unit and thedestination location; identifying one or more movement commands tocontrol movement of the motorized transport unit to cause the motorizedtransport unit to move to the destination location; and transmitting theone or more movement commands to the motorized transport unit to causethe motorized transport unit to control its movements in accordance withthe movement commands. In some embodiments, the method furthercomprises: detecting, through a light receiver unit of the motorizedtransport unit located within the shopping facility, light from thelight source within the shopping facility; extracting, at the motorizedtransport unit, the unique light source identifier from the detectedlight; determining, through a distance measurement unit of the motorizedtransport unit, the relative distance between the motorized transportunit and the external object; and transmitting, from the motorizedtransport unit, the communications comprising at least the light sourceidentifier and the relative distance. In some embodiments, the methodfurther comprises: optically reading, through a machine readable codereader of the motorized transport unit, the first machine readable code;extracting, at the motorized transport unit, the first code information;and wherein the transmitting, from the motorized transport unit, thecommunications comprises transmitting the communications comprising atleast the light source identifier, the relative distance, and the firstcode information.

In accordance with some embodiments, further details are now providedfor one or more of these and other features. A system and method formapping a shopping space is provided herein.

An MTU system may include a progressively intelligent system withcapabilities of integrating 3D and 2D store mapping with physicallocations of objects, colleagues, and associates. In some embodiments,once the central computer system maps all objects to specific locationsusing measurements and an indoor positioning systems (including thosebased on video analytics, visual light communications, WiFi, Bluetooth,Audio, Ultrawideband or other techniques), grids are applied to sectionthe map into access ways and blocked sections. The system and the MTUmay use these grids for navigation and environment recognition.

Grid units organize areas into blocked and open areas such that theautomated processes can avoid using complicated methods to evaluateareas with overlapping boundaries. In some embodiments, grid unitsprovide a more efficient and effective way of transitioning from a 2Dhorizontal map to a 3D vertical and horizontal map by way of gridsection association. Both the 2D and 3D maps are associated to a gridsection which ties the maps together. Both maps are based upon thelayout and dimensions of the physical store. These maps are then used toguide MTUs, customers, store associates, and/or colleagues.

Real store positioning, 2D maps, and 3D maps may be integrated andaligned with a grid division into blocked and open sections using areaidentification based on indoor positioning systems and point cloudmeasurements. These grid units may then be identified as either blockedor open areas. Blocked sections may then be identified based on whatobjects they contain. Open areas are identified as open floor space for2D models or open air space in 3D models. A partially blocked sectionmay be considered a blocked section until a smaller grid is applied tofurther subdivide the grid section.

3D scanning and Computer Aided Design (CAD) models may be built for ashopping space. When 3D scanning is performed, the models of the pointclouds from the scans may be used as input into a CAD program. Scalable2D CAD maps of the store may also be entered into the Central ComputerSystem (CCS). A grid may be placed over the CAD maps at the level ofdetermining objects and travel paths for MTUs. The system may computeall possible travel path dimensions from a scalable model. LED smartlights may be installed that transmit a number to allow MTUs todetermine their location in the shopping space. Measurements of theexact location of each indoor positioning beacon (e.g., LED smart light,Bluetooth beacon, audio beacon, etc.) may be recorded by MTUs todetermine their position within the store grid. A smart device may thenbe used to detect the range of the indoor positioning beacontransmission to identify the circle area of the reception of thebeacon's serial number. Each position within the store may then bemeasured, calculated, and designated based on the store CAD map. Oncethe radius for each individual light is calculated, the combination ofradii may then be measured using the same smart device. Using theseintersections of multiple LED transmission a refined area may becalculated narrowing the sections to fit the grid for making the MTUpath of travel within the measurements from the CAD map. The system mayuse the point cloud from the 3D maps to align the 2D map with the 3D mapusing digital measurements. These 3D digital measurements may be used toconfirm the accuracy of the 2D map when the 3D map is from an actualscan of the shopping space while the 2D maps built using CAD programs.

From an enhanced grid map, pathways may be calculated and establishedwith more precision as to which areas a MTU can travel through and whichareas are off limits. Using the CAD and grid method, a MTU in eachsection can determine whether it can go front or back, left or right, orif certain directions are blocked. The grid blocks around a MTU may bechecked to determine which directions the MTU can travel towards on thefly.

Using the grid method for movement provides MTU with a navigational paththat can be adjusted within a close (e.g. 6 inch) tolerance of a blockedobject. A MTU may otherwise maintain a straight path within a gridblock. Where there are partially blocked grid sections and there is aneed to enter the partially blocked area, these grid sections may befurther divided into sub-grid sections enabling a more precise sectionedarea for navigation. The system may accomplish this by applying a gridat a smaller level of measurement granularity to the grid.

FIG. 14 illustrates a block diagram of a shopping space mapping system1400, similar to that of FIG. 1 , as configured in accordance withvarious embodiments of the disclosure. The shopping space mapping system1400 includes a central computer system 1420, a store map database 1430,and a number of motorized transport units 1440 each configured toperform various tasks in a shopping space based on instructions providedby the central computer system 1420. The shopping space mapping system1400 may include or be implemented at least partially with one or morecomponents shown in FIGS. 1, 4, and 5 .

The central computer system 1420 includes a control circuit 1421 and amemory 1422, and may be generally referred to as a processor-baseddevice, a computer, a server, and the like. In some embodiments, thecentral computer system 1420 may be implemented with one or more of thecentral computer system 106 and/or the computer device 500 describedabove. For example, the functionalities of the central computer system1420 described herein may be implemented as one or more software modulesand/or hardware modules in the central computer system 106.

The central computer system 1420 has stored on its memory 1422, a set ofcomputer readable instructions that is executable by the control circuit1421 to cause the control circuit 1421 to map a shopping space andgenerate and/or modify information associated with a map of the shoppingspace stored in the store map database 1430. The control circuit 1421may be further configured to instruct the motorized transport unit 1440to navigate through the shopping space based on the map informationstored in the store map database 1430.

In some embodiments, the central computer system 1420 may be locatedinside of and serve a specific shopping space. In some embodiments, thecentral computer system 1420 may be at least partially implemented on aremote or cloud-based server that provides store map information to astore server and/or MTUs in one or more shopping spaces.

The store map database 1430 may generally be implemented by anynon-transitory storage medium. While the store map database 1430 and thememory 1422 as shown are separate element in FIG. 14 , in someembodiments, the store map database 1430 and the memory 1422 may beimplemented with the same physical device(s). In some embodiments, thestore map database 1430 may be implemented with one or more of thedatabase 126, memory 110, and memory 504 described with reference toFIGS. 1 and 5 above. In some embodiments, the store map database 1430may store maps for two or more shopping spaces. The store map database1430 may be coupled to the central computer system 1420 via one or moreof a local, wired, wireless, and networked connection.

Each motorized transport unit 1440 may be the MTU 102 described in FIG.1 , the MTU shown in FIGS. 2A-3B, and/or the MTU 102 described in FIG. 4. Generally, a MTU 1440 may be a motorized device configured travel in ashopping space according to instructions received from a centralcomputer system 1420. In some embodiments, MTUs 1440 include one or moresensors for determining its location within the shopping space. Forexample, each MTU 1440 may include GPS sensors and/or sensors forreceiving LED transmission from smart LED lights amounted throughout theshopping space. In some embodiments, the MTU 1440 may include otherinput and out devices such range sensors and optical sensors forgathering information from its surrounding.

The central computer system 1420 may further be communicatively coupledto a set of sensors (not shown). Sensors may include one or more ofoptical sensors, image sensors, the location detection system 116, thevideo camera system 118, and sensors on MTUs 120 described withreference to FIG. 1 above. Generally, the sensors are configured toprovide the central computer system 1420 information to determinewhether one or more sections of a shopping space can be accessed byMTUs. For example, the sensors may be a set of cameras for providingimages of various sections of a shopping space to the central computersystem 1420. The central computer system 1420 may analyze the imagescaptured by the cameras and determine whether there are obstructionsthat make one or more area of the shopping space inaccessible to MTUs.For example, an image may show pallets, shopping carts, customers, etc.that blocks a path in the shopping space. The cameras may be stationarycameras mounted in the shopping space and/or may include cameras on theMTUs and/or user interface devices. The sensors may communicate with thecentral computer system through any wired or wireless communicationdevices.

FIG. 15 shows a flow diagram of a process for mapping a shopping spacein accordance with various embodiments of these teachings. The stepsshown in FIG. 15 may be performed by one or more of the central computersystem 1420 in FIG. 14 , the central computer system 106 in FIG. 1 , andthe computer device 500 in FIG. 5 . In some embodiments, the steps areperformed by a process-based device executing a set of computer readableinstructions stored on a memory device. In some embodiments, one or moreof the steps may also be performed by a software program that provides auser interface for interacting with the information stored in a storemap database. Generally, the steps shown in FIG. 15 are performed by acontrol circuit of a processor-based device.

In step 1510, the system divides a map of a shopping space intosections. The map of the shopping space may be based on one or more 2Dimages and/or one or more 3D scans of the actual shopping space. 2Dimages and 3D scans may be captured by one or more of stationary,mobile, and MTU mounted image sensors. In some embodiments, a 3Dscanning device may be used to capture 3D layout of the shopping space.In some embodiments, the map of the shopping space may include a CADmodel of the shopping space. In some embodiments, the map may be dividedinto a plurality of equal sized grid cells in step 1510. In someembodiments, the store may be divided based on coordinates of apositioning system. For example, the shopping space may have a pluralityof indoor positioning beacons each transmitting a unique code that canbe used by MTUs to determine its location. Each section mayapproximately correspond to an indoor positioning system beacon'stransmission area. In some embodiments, the store map may be dividedinto sections based on existing structures and fixtures such as pillars,walls, shelves, etc. in the shopping space. The system may perform imageanalysis of the 2D and/or 3D images to determine the locations of one ormore fixtures in a shopping area and use the boundaries of the fixturesas the boundaries of at least some of the sections. In some embodiments,the map of the shopping space include one or more of a retail floor, astorage area, a customer service areas, a parking lot, a restroom, afitting room, a backroom areas, etc. In some embodiments, the map is a3D map, and the sections are 3 dimensional blocks including locations ofstructures and fixtures in 3 dimensions.

In step 1520, the system assigns a unique section identifier to eachsection of the store map. The unique section identifier may be stored inthe store map database along with location information of the sectionthat indicates the location of each section relative to the othersections. Generally, the unique section identifier may be anyalphanumeric identifier. In some embodiments, the unique sectionidentifier may correspond to the grid coordinate of the section. In someembodiments, one or more sections may be grouped together and a uniquesection identifier may be assigned to the group of sections. In someembodiments, one or more sections may be divided into sub-section and aunique section identifier may be assigned to each of the sub-sections.

In step 1530, whether each section is accessible to MTUs is determined.In some embodiments, step 1530 is determined by the system using a 2Dimage and/or a 3D scan of the shopping space. For example, the systemmay identify one or more structures (e.g. walls, pillars) and/orfixtures (e.g. shelves, refrigerators, kiosks, checkout terminals) inthe shopping space based on one or more images or scans of the shoppingspace and mark each section corresponding a structure or fixture asinaccessible to MTUs. In some embodiments, in step 1530, a section isdetermined to be inaccessible only if the section is physicallyinaccessible to any of the MTUs. In some embodiments, accessibility ofsections of a store may be at least partially manually entered. Forexample, a user may manually mark one or more section as inaccessible instep 1530. A user may look at images of the shopping space and verifywhether a section is accessible to MTUs. In some embodiments, the usermay mark some sections as inaccessible to MTUs even though the sectionis physically accessible. For example, a user may mark the stalls thathave been leased to third party vendors as inaccessible to MTUs. Foreach section determined to be inaccessible to MTUs in step 1530, thesystem assigns a blocked tag to the unique section identifier associatedwith that section in step 1540, and the tag is stored in the store mapdatabase in step 1542.

For each section determined to be accessible to at least some MTUs instep 1530, the system assigns 1550 an accessible tag to the uniquesection identifier associated with the section. In some embodiments, asection is assigned an accessible tag if the section is accessible to atleast one of the MTUs that receives instructions from the system.

In step 1552, the system allows access restriction settings to beconfigured to each section having an accessible tag. Access restrictionsmay be based various conditions and characteristics associated withMTUs. In some embodiments, the access restriction may be based on timeof day. For example, MTUs may be permitted to travel through checkoutterminal lanes only during hours that the store is closed. In someembodiments, the access restriction may be based on the MTU's currentlyassigned task. A MTU may be assigned various tasks such as leading acustomer, following a customer, carrying a basket, carrying a cart,carrying a passenger, scanning shelves, and cleaning up. The accessrestriction may, for example, allow only MTUs assigned with a cleanuptask to enter restrooms and/or prohibit MTUs carrying a basket or a cartto enter restrooms. In another example, if a section corresponds to anarrow pathway, the access restriction may only allow MTUs not carryinga cart or a basket to pass through. In yet another example, the accessrestriction may prevent MTUs escorting a customer from entering employeeonly areas or going into the parking lot prior to the conclusion of theshopping trip. In some embodiments, the access restrictions may be basedon the MTU's capability. For example, the access restriction may permitonly MTU's with cleaning capability to enter restrooms, and MTU's withshopping cart coupling capability to enter the shopping cart storagearea. In some embodiments, the access restriction may be based onwhether and who the MTU is assigned to. For example, a sectioncorresponding to a backroom storage area may be accessible only to MTUsassigned to store associates and not to MTUs assigned to customers. Insome embodiments, the access restrictions may be based on the area'sheight clearance. For example, the store map may be a 3D store map thatincludes height clearance information for sections of the map. Theaccess restriction may impose a maximum height of an MTU, including anycargo it may be carrying, that can travel through that section. Forexample, an MTU alone, may be permitted to travel under certain displayshelves or on a raised track; while a MTU coupled to a shopping cart orescorting a customer would be not permitted to travel on these routes.Generally access restrictions settings may be configured to permit orprohibit access of MTUs based one or more conditions and MTUcharacteristics.

In some embodiments, the access restrictions settings may be at leastpartially manually configured. The system may provide a user interfacefor store associates and/or system administrators to enter and/or modifyaccess restrictions associated with various sections of the stores. Insome embodiments, a set of default access restrictions may be associatedwith a section category. A user or a system may determine a category foreach section or group of sections and access restrictions may beautomatically assigned based on the category. For example, the systemmay use image analysis to identify areas of a shopping space as parkinglot, restroom, storage area etc., and automatically assign accessrestrictions associated with those area categories to the correspondingsections. In some embodiments, the system may use image analysis todetermine sections that correspond to narrow paths or low heightclearance areas, and set access restrictions based on the size of theMTU and/or MTU's cargo accordingly. For example, the system maydetermine that a particular aisle is below a certain width (e.g. 4feet), and permit only MTUs not carrying a shopping cart to travelthrough that aisle. In some embodiments, a user may manually enterand/or modify access restrictions for sections of the shopping space. Instep 1542, the access restrictions for each section identifier arestored in the store map database.

In some embodiments, after step 1542, the system is further configuredto monitor for accessibility of sections of the shopping space inreal-time using one or more sensors in the shopping area. For example,the system may compare images of a section captured by image sensors anda baseline image of the section to determine whether there is atemporary obstruction in the section. In some embodiments, the systemmay further use sensors mounted on MTUs to gather real-timeaccessibility information. A temporary obstruction may be one or moreof, a display shelf, a pallet, a spill, a customer, a shopping cart, aMTU, etc. Generally, a temporary obstruction may by any object thatmakes an area at least partially inaccessible to some MTUs. If anobstruction is detected, the section may be marked as temporarilyinaccessible in the store map database. In some embodiments, thetemporarily inaccessible sections may also include access restrictionsbased on one or more characteristics of the MTUs. For example, when aspill is detected, the system may mark the section as inaccessible toall MTUs except for MTUs with a cleanup task to clean the specificspill. In another example, the system may determine that an obstructionis only a partial obstruction and permit some of the MTUs to travelthrough. For example, a shopping cart may be partially blocking an areasuch that only MTUs not carrying another shopping cart can pass through.In such case, the system may mark that section as temporarilyinaccessible only to MTUs carrying a shopping cart. The system maycontinue to monitor the access condition of the section of the shoppingspace and remove the temporarily inaccessible tag from the correspondingunique section identifiers when the obstruction is removed. In someembodiments, the system may only monitor real-time accessibilityinformation in sections with an accessible tag. For example, the systemmay only update accessibility information for sections of the shoppingspace that is accessible to at least some of the MTUs.

In step 1560, the system provides navigation instructions to MTUs basedon the access restriction settings of each section of the shopping spacestored in the store map database. For example, prior to providingnavigation instructions to a MTU, the system may verify that eachsection in the path of the MTU is accessible to the MTU according to oneor more of time of date, the MTU type, the MTU's assigned task, theMTU's capability, etc. If at least one section is inaccessible and/orrestricted to that particular MTU, the system may determine a new pathfor the MTU that avoids the inaccessible sections. In some embodiments,the accessibility information may further include temporary accessrestrictions determined in real-time. As the MTU travels through theshopping space, the system may continue to check the store map databaseto ensure that the MTU does not travel through any inaccessible,restricted, and/or temporarily inaccessible sections. The system may beconfigured to reroute the MTU in real-time to avoid these sections.

FIG. 16A illustrates a map divided in to a plurality of sections inaccordance with some embodiments. In FIG. 16A, an area of the shoppingspace 1600 is divided into sections and each section is assigned aunique section identifier 1601-1625. Each section may correspond to adiscrete area of the shopping space with accessibility information.While sections 1601-1625 are shown as equal size squares, in someembodiments each section may be of any shape and may differ in size fromeach other. For example, the shape of sections may track boundaries ofbuilding structures and/or fixtures. In some embodiments, one or moresections may be grouped together and the group of sections may have aunique group identifier that allows the group to share accessibilityinformation and access restriction settings. In some embodiments, one ormore sections may be further divided into subsection and each subsectionmay have a subsection unique identifier that can have separateaccessibility information and access restriction settings.

FIG. 16B illustrates a data table storing accessibility and accessrestriction information associated some sections of the map 1600. InFIG. 16B, section 1608 has an inaccessible tag; as such, no accessrestriction settings or temporary accessibility settings are stored forsection 1608. The area of the shopping space corresponding to section1608 may include, for example, a wall, a pillar, a permanent fixture,etc. and is inaccessible to any of the MTUs. Section 1612 has anaccessible tag and an access restriction setting that restricts accessbetween 8 am-11 pm. Section 1614 has an accessible tag and an accessrestriction setting that restricts access of MTUs escorting a customer.Section 1604 has an accessible tag and no access restriction setting.However, section 1623 is temporarily inaccessible to MTUs carrying acart. The temporary inaccessibility may correspond to, for example, apartially blocked pathway.

As an example, if a MTU is currently located at section 1613 and needsto travel to section 1603, the system may first check the accessibilityinformation of the most direct route, which is through section 1608.Since the section 1608 has an inaccessible tag, the system will thenfind an alternate route. The system may check the time of day todetermine whether the MTU can travel through section 1612 and/or whetherthe MTU is currently escorting a customer to determine whether the MTUcan travel through section 1614. In some embodiments, the system maycheck all sections on a planned route (e.g. 1614, 1609, 1604, 1603) toensure that there is a cleared route to the destination prior toinstructing the MTU to begin moving in that direction. While the MTUtravels through the shopping space, the system may continue to check forany temporary inaccessible conditions and reroute the MTU responsively.For example, if a route takes a MTU through section 1623 and the“inaccessible to MTUs carrying a cart” condition is detected, the MTUmay be rerouted to avoid section 1623 or be instructed to wait until theblockage clears if no alternative routes are available.

The table in FIG. 16B is provided as an illustration only. In someembodiments, the accessibility information and access restrictionsettings can be stored in other formats without departing from thespirit of the present disclosure. For example, the access restrictionmay be inclusively defined (e.g. only MTU with listed characteristicscan enter) or exclusively defined (e.g. all but MTU with listedcharacteristics can enter). In some embodiments, the restrictionsettings may comprise a lookup table listing every condition and MTUcharacteristic that can be used to configure the setting and whether asection is accessible or inaccessible for each condition and MTUcharacteristic which may be stored in the map database.

In some embodiments, apparatuses and methods are provided herein usefulfor mapping a shopping space for movable transport unit navigation. Insome embodiments, a system for mapping a shopping space is provided. Thesystem comprises a plurality of motorized transport units, a store mapdatabase for storing a map of the shopping space, and a central computersystem coupled to the plurality of motorized transport units and thestore map database. The central computer system being configured todivide the map of the shopping space into a plurality of sections,assign an unique section identifier to each of the plurality of sectionsin the shopping space, associate, in the store map database, a blockedtag with each unique section identifier corresponding to a section ofthe shopping space inaccessible to the plurality of motorized transportunits, associate, in the store map database, an accessible tag with eachunique section identifier corresponding to a section of the shoppingspace accessible by at least one of the plurality of motorized transportunits, for each unique section identifier having an accessible tag,allow an access restriction setting to be configured for thecorresponding section, and provide navigation instructions to theplurality of motorized transport units based on access restrictionsettings of each section of the shopping space stored in the store mapdatabase.

In some embodiments, the access restriction setting comprises arestriction based on a motorized transport unit's currently assignedtask. In some embodiments, the motorized transport unit's currentlyassigned task comprises one or more of: lead a customer, follow acustomer, carry a basket, carry a cart, carry a passenger, scan shelves,and cleanup. In some embodiments, the access restriction settingcomprises a restriction based on a motorized transport unit'scapability. In some embodiments, the access restriction settingcomprises a restriction based on whether the motorized transport unit isassigned to a store associate or a customer. In some embodiments, thesystem further comprises a plurality of image sensors. In someembodiments, blocked tags and accessible tags are associated with uniquesection identifiers based on analyzing images captured by the pluralityof image sensors. In some embodiments, the central computer system isfurther configured to determine whether a section of the shopping spaceis temporarily inaccessible to the plurality of motorized transportunits based on images captured by the plurality of image sensors. Insome embodiments, whether a section is temporarily inaccessible isdetermined based on comparing images of the section captured by theplurality of image sensor and a baseline image of the section. In someembodiments, the map of the shopping space comprises a three-dimensionmap.

In some embodiments, a method for mapping a shopping space is provided.The method comprises dividing, by a central computer system, the map ofthe shopping space into a plurality of sections, assigning an uniquesection identifier to each of the plurality of sections in the shoppingspace, associating, in the store map database, a blocked tag with eachunique section identifier corresponding to a section of the shoppingspace inaccessible to a plurality of motorized transport units coupledto the central computer system, associating, in the store map database,an accessible tag with each unique section identifier corresponding to asection of the shopping space accessible by at least one of theplurality of motorized transport units, for each unique sectionidentifier having an accessible tag, allowing an access restrictionsetting to be configured for the corresponding section, and providingnavigation instructions to the plurality of motorized transport unitsbased on access restriction settings of each section of the shoppingspace stored in the store map database.

In some embodiments, the access restriction setting comprises arestriction based on a motorized transport unit's assigned task. In someembodiments, the motorized transport unit's assigned task comprises oneor more of: lead a customer, follow a customer, carry a basket, carry acart, carry a passenger, scan shelves, and cleanup. In some embodiments,the access restriction setting comprises a restriction based on amotorized transport unit's capability. In some embodiments, the accessrestriction setting comprises a restriction based on whether themotorized transport unit is assigned to a store associate or a customer.In some embodiments, the method further comprises associating blockedtags and accessible tags with unique section identifiers based onanalyzing images captured by a plurality of image sensors coupled to thecentral computer system in the shopping space. In some embodiments, themethod further comprises determining, by the central computer system,whether a section of the shopping space is temporarily inaccessible to amotorized transport unit based on images captured by a plurality ofimage sensors coupled to the central computer system in the shoppingspace. In some embodiments, the method further comprises determiningwhether a section is temporarily inaccessible based on comparing imagesof the section captured by the plurality of image sensor and a baselineimage of the section. In some embodiments, the map of the shopping spacecomprises a three-dimension map.

In some embodiments, an apparatus for mapping a shopping space isprovided. The apparatus comprising a non-transitory storage mediumstoring a set of computer readable instructions, a control circuitconfigured to execute the set of computer readable instructions whichcauses to the control circuit to: divide the map of the shopping spaceinto a plurality of sections, assign an unique section identifier toeach of the plurality of sections in the shopping space, associate, in astore map database, a blocked tag with each unique section identifiercorresponding to a section of the shopping space inaccessible to aplurality of motorized transport units, associate, in the store mapdatabase, an accessible tag with each unique section identifiercorresponding to a section of the shopping space accessible by at leastone of the plurality of motorized transport units, for each uniquesection identifier having an accessible tag, allow an access restrictionsetting to be configured for the corresponding section, and providenavigation instructions to the plurality of motorized transport unitsbased on access restriction settings of each section of the shoppingspace stored in the store map database.

In accordance with some embodiments, further details are now providedfor one or more of these and other features. For example, generallyspeaking, pursuant to various embodiments, systems, apparatuses,processes and methods are provided herein that enable a motorizedtransport unit 102 to cooperate with a movable item container 104 anddrive or otherwise move the item container through at least portions ofthe shopping facility, and in some instances outside of the shoppingfacility.

Referring back to FIGS. 3A-3B, in some embodiments, the motorizedtransport unit 202 is configured to cooperate with and lift at least aportion of the movable item container 104. The motorized transport unit202 positions itself and/or receives routing information from thecentral computer system relative to the movable item container, and insome instances moves at least partially under the movable item containeror an extended support with which the motorized transport unit cancouple.

In some embodiments, the central computer system utilizes sensor data(e.g., video camera information, RFID information of a movable itemcontainer, one or more radio beacons (e.g., WiFi, Bluetooth, RF, etc.)at known positions throughout the shopping facility, light sources(e.g., LEDs) that emit identifier information, location identifiers(e.g., barcodes), and the like) to identify a location of a movable itemcontainer and/or one or more motorized transport units. The locationinformation may be received directly from a detector, from one or moresensors on the movable item container, sensor data from one or moremotorized transport units, other sources, or combination of suchsources. Based on the detected location of the movable item containerand a motorized transport unit, the central computer system can route amotorized transport unit to the location of the movable item container.

Once proximate the movable item container, the motorized transport unitthen moves to a predefined location and/or orientation relative to themovable item container where the motorized transport unit can lift atleast a portion of the movable item contain. In some instances, thecentral computer system continues to track sensor data and communicatesrouting information to the motorized transport unit to cause themotorized transport unit to move to the predefined location.Additionally or alternatively, the motorized transport unit may utilizeits own internal sensors in positioning and/or orienting itself relativeto the movable item container. For example, in some embodiments, thecentral computer system routes the motorized transport unit to alocation proximate the movable item container. Once positioned proximatethe movable item container, the motorized transport unit autonomouslymoves itself into position, based on sensor data (e.g., distancemeasurement sensor/s, camera/s, image processing, RFID scanner/s,barcode reader/s, light ID detector/s, antenna/s, directional antenna/s,other such sensors, or typically a combination of two or more of suchsensors and/or sensor data). Furthermore, the central computer systemmay communicate sensor data to the motorized transport unit that can beused by the motorized transport unit in addition to local sensor data inorienting and positioning itself relative to the movable item container.

FIG. 17 illustrates some embodiments of a motorized transport unit 202positioned proximate a movable item container. The movable itemcontainer may include an RFID transmitter 1702 or other such transmitterthat can be detected by the motorized transport unit and/or the centralcomputer system to obtain an identifier of the movable item container,and/or may be used in part to determine a location of the movable itemcontainer. Utilizing one or more sensors (e.g., camera/s, distancesensor/s, other such sensors, or a combination of two or more of suchsensors), the motorized transport unit, once positioned proximate themovable item container, may recognize a shape of the movable itemcontainer (e.g., a virtual modeled shape 1704 that corresponds to areference model) and based on the shape (e.g., a difference between theorientation of the detected modeled shape relative to a reference shape,such as differences in lengths, angles, etc.) can identify anorientation of the motorized transport unit relative to the movable itemcontainer. For example, the motorized transport unit can recognize themovable item container and its relative orientation based on anglesand/or rotation of the model. Additionally or alternatively, someembodiments may recognize one or more key features of the movable itemcontainer. For example, the motorized transport unit may, based on thedetected model, identify a frame 1706, base, or the like, and/or aspecific aspect of the frame (e.g., a front bar of the frame) and itsorientation relative to that key feature.

Utilizing the determined relative position and/or orientation, themotorized transport unit can move itself into a desired positionrelative to the movable item container. Typically, during movement, themotorized transport unit can continue to use sensor data (e.g., distancemeasurements, video and/or image data, etc.) to continue to track itsposition relative to the movable item container and its orientationrelative to a desired positioning and orientation relative to themovable item container to allow cooperation between the motorizedtransport unit and the movable item container.

FIG. 18 illustrates some embodiments of a motorized transport unit 202positioned proximate a movable item container 302 that includes one ormore tags 1802, beacons or the like (e.g., RFID tag, radio beacon,distance tags providing distance information, etc.) placed at predefinedlocations on the movable item container. The proximity depends on thesignal strength of the tags, interference, and other such factors.Again, the central computer system may provide routing instructions toguide the motorized transport unit through one or more portions of theshopping facility to a location proximate the movable item container(e.g., within a predefined threshold distance where it has beendetermined the motorized transport unit can accurately detect the tags).In some embodiments, the motorized transport unit wirelessly receivespositioning route instructions from the central computer system. Basedon the route instructions, the control circuit of the motorizedtransport unit can activate the motorized wheel system to move themotorized transport unit through at least a portion of the shoppingfacility and to position the motorized transport unit, in accordancewith the positioning route instructions, proximate the movable itemcontainer such that the one or more wireless tag sensors are capable ofsensing at least one of the wireless tags on the item container.

The motorized transport unit can then utilize one or more sensors (e.g.,camera/s, distance sensor/s, antenna/s, directional antenna/s, othersuch sensors, or a combination of two or more of such sensors) to detectand/or recognize the movable item container and/or determine a relativeposition and/or orientation of the movable item container relative to aposition and/or orientation of the motorized transport unit. In someembodiments, the motorized transport unit utilizes one or more tagsensors, directional antennas or the like to detect and locate the oneor more tags 1802 (e.g., determine distance and angle of tags relativeto a position and orientation of the motorized transport unit). Based onthe predefined location of the tags on the movable item container, themotorized transport unit can use the determined location and orientationof the movable item container relative to the motorized transport unitas the motorized transport unit moves into a desired position relativeto the movable item container so that the motorized transport unit cancooperate with and lift at least a portion of the movable itemcontainer. For example, based on the detected tags, the motorizedtransport unit can apply triangulation relative to the multiple tags todetermine a precise location of the motorized transport unit relative tothe movable item container.

Again, the location information determined from the tags may be utilizedin combination with other sensor data, such as distance measurementdata, image processing data and other such information. The number oftags can vary depending on one or more factors, such as but not limitedto size of the movable item container, precision of the sensors of themotorized transport unit, input from the central computer system (e.g.,movement and/or routing instructions, sensor data, etc.), and other suchfactors. In some implementations, for example, the movable itemcontainer may include three or more tags 1802 that allow the motorizedtransport unit and/or the central computer system to determinepositioning and/or orientation of the motorized transport unit relativeto the movable item container as the motorized transport unit moved intoa desired position. As a specific example, in some applications fourtags are secured in predefined locations on the movable item container,where three tags can be used for horizontal positioning and/ororientation while the fourth can be used for vertical positioning.Typically, the tags have unique identifiers that allow the motorizedtransport unit and/or the central computer system to distinguish betweenthe tags. In some implementations, the orientation is utilized toaccurately orient the motorized transport unit relative to the movableitem container, such as to accurately position one or more itemcontainer coupling structures 422.

Further, in some implementations, one or more sensors of the motorizedtransport unit may be overridden and/or ignored. For example, a bumpsensor may be ignored as the motorized transport unit moves intoposition relative to the movable item container. Similarly, in someinstances the motorized transport unit may intentionally bump one ormore parts of the movable item container (e.g., the wheels) as part of apositioning process. As such, the bump sensor may be used not as awarning but as a confirmation.

FIG. 19 illustrates an example of the motorized transport unit 102 ofFIG. 1 , in accordance with some embodiments. In this example, themotorized transport unit 102 has a housing 402 that contains (partiallyor fully) or at least supports and carries a number of components. Thesecomponents can include a control unit 404 comprising a control circuit406 that, like the control circuit 108 of the central computer system106, controls the general operations of the motorized transport unit102, and memory 408, and can include one or more of a motorized wheelsystem 410, wireless transceiver 412, on-board sensors 414, audio input416, audio output 418, rechargeable power source 420, movable itemcontainer coupling structure 422, input/output (I/O) device 424, userinterface 426, other such components, and typically a combination of twoor more of such components.

As described above, the sensors 414 may include one or more wireless tagsensors, antennas and/or other such sensors to detect the tags 1802cooperated with movable item container. The tag sensors couple with thecontrol circuit such that the control circuit receives from the one ormore tag sensors location information. In some implementations, the taglocation information, which is typically wirelessly detected frommultiple different wireless tags positioned at different positions onthe movable item container, can include and/or be used to determinelocation and/or orientation information of the tags 1802 relative to alocation of the motorized transport unit. This location informationallows the control circuit 406 to identify a location and orientation ofthe item container relative to the motorized transport unit.

In some embodiments, the motorized transport unit further includes oneor more lift systems 1904. The lift system is configured to lift aportion of the motorized transport unit. For example, in someembodiments, the lift system is cooperated with the one or more itemcontainer coupling structures 422, which lift at least the one or moreitem container coupling structures. When the item container couplingstructures are cooperated with the movable item container, the liftingcan be transferred to the movable item container to cause at least aportion of the movable item container to be lifted. Additionally oralternatively, in some embodiments, the motorized transport unitincludes a frame structure with at least two frame and/or housingsections that are movable relative to each other. The lift system cancouple between the two frame sections such that when activated can causethe two frame sections to at least move toward or away from each other.The control circuit 406 controls the one or more lift systems 1904.Typically, when the lift system is operated to move the frame sectionstoward each other the motorized transport unit is in a low profile orretracted state, and when operated to move the two frame sections awayfrom each other the motorized transport unit is in high profile orextended state such that a height of at least a portion of the motorizedtransport unit is greater in the extended state than in the retractedstate (e.g., see FIGS. 3A-3B).

In some embodiments, the control circuit activates the lift system toconfigure the motorized transport unit into the retracted stateretracting the two frame sections. This can allow the control circuit tocontrol the motorized wheel system to move the motorized transport unitin position underneath a portion of the movable item container. Themotorized wheel system 410 can be activate and controlled whilecontinuing to monitor location information (e.g., using distance sensordata, tag location data, image processing, information from the centralcomputer system, and/or other such information) to position themotorized transport unit under the movable item container and aligned,based on the location information, relative to a frame of the movableitem container.

Once the motorized transport unit is in position (e.g., using sensors,antennas, image processing, etc.), the control circuit can activate theone or more lift systems 1904 to transition to the extended state tolift on the frame 1706 of the movable item container lifting a firstportion of the item container. In some embodiments, the lifting on theframe 1706 lifts a portion of the movable item container such that oneor more wheels 306 of the item container are lifted off of the floorwhile two or more other wheels 306 of the item container remain incontact with the floor. For example, a front portion 304 of the movableitem container can be lifted off of the ground by the motorizedtransport unit, including lifting the front wheels off the ground. Theback or rear wheels 306 of the movable item container can remain on theground. In this orientation, the motorized transport unit 202 is able todrive the movable item container through the shopping facility. Again,in these embodiments, the motorized transport unit does not bear theweight of the entire movable item container since the rear wheels 306rest on the floor. Further, the motorized transport unit takes advantageof the rear wheels continued contact with the floor to maintain anenhanced stability and reduces the potential of tipping. The controlcircuit is configured to activate the motorized wheel system, inaccordance with shopping route instructions received from the centralcomputer system, to drive the item container through the shoppingfacility along a shopping route while the two or more wheels of the itemcontainer continue to be in contact with the floor and supporting aportion of the weight of the item container and products placed into theitem container. The lift force provided by the lift system can depend onexpected weight and/or load of the movable item container and the weightof the products expected to be placed into the movable item container.

The lift system 1904 can be configured with one or more lifting devicesand/or systems. In some instances, the lift system includes a liftsystem control circuit that receives instructions from the motorizedtransport unit control circuit 406 and controls the one or more liftingdevices. In other instances, the motorized transport unit controlcircuit directly controls the lifting devices. The lifting devicesextend and retract the two frame and/or housing sections, one or moreitem container coupling structures 422, or other portion of themotorized transport unit that cooperates with the movable itemcontainer. The one or more lifting devices can include one or morehydraulic lifts, screw drives, servo-electric motors, linearservo-electric motors, or other such lifting devices or a combination oftwo or more of such lifting devices.

In some embodiments, the lift system comprises a plurality of hydrauliclifts that are spaced relative to each other and upon activation liftthe one or more wheels 306 of the item container off of the floor. Forexample, the lift system may include four hydraulic lift devices, whichmay be positioned to correspond to each of one of the wheels of themotorized wheel system, and can be cooperatively or independentlyactivated. The motorized transport unit can include a body or housinghaving a top portion and a bottom portion. In some implementations, thehydraulic lifts cooperate with at least the top portion such that whenactivated cause the top portion to lift relative to the bottom portionand lift the first portion of the item container.

Some applications cooperate the one or more hydraulic lift systems orother such lift systems with a track, rail, guide, groove, rod, or thelike that allows a portion of the motorized transport unit (e.g., alower portion) to rotate relative to another portion (e.g., upperportion). The lifting devices alternatively cooperated with hinges,pivots, gearing and/or other such features that allow at least somelateral movement. In other implementations, a one or more screw drivesare utilized to provide the lifting force. For example, a singlecentrally positioned screw drive can be utilized that causes a lowerportion of the motorized transport unit to spin relative to an upperportion of the motorized transport unit. Alternatively or additionally,the frame and/or housing may include an upper portion and a lowerportion with cooperative threading allowing extension and retractionbetween the upper and lower portions as the lower portion rotatesrelative to the upper portion.

FIG. 20 illustrates a simplified flow diagram of an exemplary process2000 of cooperating a motorized transport unit with a movable itemcontain such that the motorized transport unit can drive the movableitem container through a shopping facility and providing customerassistance. In step 2002, a motorized wheel system of a motorizedtransport unit is activated by a control circuit. The control circuit,while activating the motorized wheel system, typically further continuesto monitor location information to position the motorized transport unitunder a movable item container, and aligns the motorized transport unit,based on the location information, relative to a frame of the itemcontainer. Typically, the item container is one of a plurality ofmovable item containers that are usable by customers and configured tobe moved by customers through the shopping facility. In step 2004, alift system is activated to lift on the frame of the item containerlifting a first portion of the item container such one or more wheels ofthe item container are lifted off of a floor while two or more otherwheels of the item container remain in contact with the floor.

FIGS. 21A, 21B and 21C illustrate some embodiments of a motorizedtransport unit 202 detachably engaging a movable item container embodiedas a shopping cart 302. In FIG. 3A, the motorized transport unit 202 islocated proximate the movable item container with one or more arms 2102,levers, extensions or the like in a first, engagement or extendedposition. When in the engagement position, the arms are configured tocooperate with a base, frame 1706 or other portion of the movable itemcontainer. For example, a pair of arms may be configured with lengthssufficient to allow each arm to contact a portion of the frame (e.g.,cooperatively span a distance across the frame). In some instances, thewidth of the motorized transport unit when the arms are in theengagement position is such that the motorized transport unit cannot getbetween the wheels 306 of the movable item container or can be difficultto maneuver between the wheels 306. Accordingly, as illustrated in FIG.21B, the arms may be rotated, retracted or otherwise moved to a second,aligned or narrowed position. In the aligned position, the motorizedtransport unit has a narrower width allowing the motorized transportunit to more readily move between the wheels 306 of the movable itemcontainer. In some embodiments, one or more motors and/or gearing arecooperated with the arms to implement the rotation of the arms. FIGS.21A-21C illustrate the motorized transport unit moving in under themovable item container from a first direction (e.g., front of the cart),however, it will be appreciated by those skilled in the art that themotorized transport unit can move in from any direction that providessufficient clearance (horizontally, such as between the wheels; andvertically).

Once the motorized transport unit 202 is in position (e.g., usingsensors), as illustrated in FIG. 21C, the arms can be moved back to theengagement position to allow the arms to engage parts of the frame 1706of the movable item container. The arms can provide added support andstability when lifting at least a portion of the movable item container.In some implementations, the motorized transport unit may positionitself relative to the movable item container such that the arms areadjacent to the front wheels, and potentially utilize the front wheelsas a point of engagement. For example, the arms may rest against andpush against the wheels or wheel housing as the motorized transport unitdrives the movable item container through the shopping facility. Someapplications further position the arms relative to the motorizedtransport unit such that the weight of the movable item containersupported by the motorized transport unit is approximately centered onthe motorized transport unit and/or allowing relatively balanceddistribution of the weight across the wheels of the motorized transportunit.

One or more of the item container coupling structures 422 may beincluded on each arm 2102 allowing the item container couplingstructures to be secured with the frame or corresponding couplingstructures on the movable item containers. The item container couplingstructure may be positioned on an end of each arm, and/or one or moreitem container coupling structures may be implemented at one or morelocations along a length of each arm. In some embodiments, the one ormore arms are rotatably cooperated with a body of the motorizedtransport unit, with at least one actuatable clamp positioned on each ofthe arms such that the arms are rotated to position the clamps relativeto the frame of the item container. Additionally or alternatively, oneor more item container coupling structures may be included on thehousing of the motorized transport unit and/or cooperated with a frameof the motorized transport unit.

The arms are constructed of a strong, durable material, such as steel,stainless steel, other relevant alloy, or other material that isconfigured to support the expected weight of the movable item containerand items placed into the movable item container. Cushioning may beincluded along some or all of the length of the arms, e.g., a rubberizedor plastic coating. This cushioning can provide a soft contact betweenthe motorized transport unit and the movable item container, limit atransfer of bumps from the motorized transport unit to the movable itemcontainer, limit potential damage to the frame of the movable itemcontainer and/or to the motorized transport unit, and the like. In someimplementations, the arms may be configured to flex based on an expectedweight to be supported, and/or be cooperated with the motorizedtransport unit with one or more springs or flexing members that providecushioning.

The lift system 1904 may directly cooperate with the arms 2102, suchthat the lift system causes the arms to elevate and lift the movableitem container. In other instances, however, the arms are elevated as aportion of the motorized transport unit lifts. The arms may further beconfigured to accommodate misalignment and/or damage to the frame of themovable item container and/or the arm. For example, the arms may beconfigured to extend beyond the frame or other movable item containerintended to be picked up.

The item container coupling structures 422 can be substantially anyrelevant coupling structure that can cooperate the motorized transportunit with the movable item container. For example, the item containercoupling structures may include one or more clamps, hooks, latches,posts, recesses, and other such coupling structures. Someimplementations include one or more actuatable clamps controlled by thecontrol circuit. The control circuit, in response to positioning themotorized transport unit under the item container and aligned relativeto the frame of the item container, can activate the clamps to engageand removably clamp to the frame of the item container and temporarilysecure the motorized transport unit with the item container.

Further, the item container coupling structures and/or the arms can beconfigured to accommodate slight variations between the frame of themovable item container and positioning of the motorized transport unitwhen trying to cooperate with the movable item container and motorizedtransport unit (e.g., carts may vary, for example, because of beingdamaged and the like). In some instances, the coupling structure and/ormovable item container may include one or more guides or other suchstructure to help achieve desired alignment of the coupling structureand the part of the movable item container that is being secured (e.g.,lateral bar of the frame). Additionally, the item container couplingstructure may be configured to move horizontally and/or verticallyrelative to the motorized transport unit to allow for alignment. Thearms may also be configured to provide for slight variations (e.g., maybe able to extend or retract at least a small distance) to allow foreasier cooperation. Further, the lift system may lift one side of themotorized transport unit and/or an arm higher than the other to achievea cooperation of the coupling structure with the movable item container.Some embodiments include coupling structure sensors to ensure thecoupling structures have achieved a secure cooperation with the movableitem container.

In some embodiments, the sensors 414 may include one or more tractionand/or slip sensors. For example, a traction sensor may be cooperatedwith one or more of the wheels and/or axles of the motorized transportunit and can detect and/or index the rotation of one or more wheelsand/or axles of the wheels. As such, in some instances, the controlcircuit and/or the motorized wheel system can receive traction sensordata that may indicate a reduction in traction of one or more wheels ofthe motorized wheel system (e.g., can detect when a wheel is movingfaster than expected). In some instances, the control circuit and/or themotorized wheel system can detect a reduction or lack of tractionrelative to one or more wheels based on the rate of rotation of thewheel relative to the rate of rotation of one or more other wheel (e.g.,rate of rotation is different by a threshold amount).

The control circuit can be configured to take corrective action inresponse to a detection of a reduction or loss of traction. In someimplementations, the one or more traction sensors cooperate with themotorized wheel system and are configured to detect a reduction intraction of one or more wheels of the motorized wheel system. In someembodiments, the control circuit is configured to activate one or moreof the lift systems 1904 to adjust a lift height of one side or quadrantof the item container 302 relative to the one or more wheels of themotorized transport unit corresponding to the detected reduction intraction. The change in height can increase weight on the one or morewheels relative to other wheels of the motorized wheel system, which mayovercome the reduction in traction. For example, some embodimentsinclude one or more traction sensors cooperated with the motorized wheelsystem and configured to detect a reduction in traction of one or morewheels of the motorized wheel system. The control circuit is coupledwith the one or more traction sensors, and further configured toactivate the lift system to adjust a lift height of one side of the itemcontainer relative to the one or more wheels corresponding to thedetected reduction in traction to increase weight on the one or morewheels relative to other wheels of the motorized wheel system.

Additionally or alternatively, the motorized wheel system can becontrolled to slow down or speed up one or more wheels in attempts toenhance traction of the one or more wheels or others of the one or morewheels. Still further, one or more notifications can be communicated tothe central computer system and/or to a customer or other user (e.g.,through a communication to a corresponding user interface unit, adisplay on the movable item container, lights and/or sounds from themotorized transport unit and/or the movable item container, other suchnotification, or combinations of two or more of such notifications).

Similarly, the lift system may be used to balance the weight of themovable item container (and items placed in the item container). Forexample, one or more lifting devices can be activated to elevate oneside or the other in attempts to help balance the weight. Someembodiments may include weight detectors and/or level detectors that candetect an imbalance of weight. Accordingly, the lift system can activateone or more lifting devices in attempts to at least partially compensatefor the imbalance.

In some embodiments, the motorized transport unit does not lift anyportion of the movable item container. Instead, the motorized transportunit can position itself relative to the movable item container andactivate the one or more item container coupling structures to securethe motorized transport unit with the item container. The motorizedtransport unit can then drive and/or tow the movable item container.Some applications position the motorized transport unit near or at thefront of the movable item container while still providing the frontwheels with clearance to freely rotate and/or swing (e.g., in someinstances swing 360°). The lift system may still be used, without intentto fully lift a portion of the movable item container off the floor.Instead, the lift system can be activated to increase pressure on wheelsof the movable item container and allow the movable item container toachieve more traction. Further sensors can be used (e.g., pull sensors,skid sensors, traction sensor, etc.) to identify when to increasepressure on the motorized transport unit, which can trigger one or morelifting devices to increase a lift force, but not lifting the movableitem container. Further, one or more sensor (e.g., distance sensors,range sensor, tilt sensors, other such sensors, or combination of two ormore of such sensors) can be employed to prevent the lift system fromlifting too high and lifting one or both of the front wheels 306 of themovable item container off the floor.

It can be difficult for the motorized transport unit to separate twomovable item containers (e.g., shopping carts 302) when they have beenforced or “seated” together. Accordingly, some embodiments utilize oneor more seating blocks, bumpers, stops, or other devices to limit howcompressed together the movable item containers can be.

FIG. 22A illustrates an exemplary movable item container, embodied asshopping carts 302, with a seating block 2202, in accordance with someembodiments. FIG. 22B illustrates some embodiments of two seated movableitem containers, embodied as shopping carts 302. The shopping carts 302further include seating blocks 2202. The seating blocks are positionedon the shopping carts to limit how closely two or more shopping cartscan be positioned relative to each other and/or seated. Because thecarts cannot be forced together too tightly, the motorized transportunit typically has sufficient power and traction to separate two seatedcarts. Still further, in some instances, the seating blocks maintain adistance between carts to allow the motorized transport unit to moveunderneath a front most cart, cooperate with the cart and move the cartaway from the other one or more carts with which it is seated. This mayinclude providing sufficient room to allow the motorized transport unitto move in under the shopping cart from the side of the cart.

In some embodiments, systems, apparatuses and methods are providedherein useful to provide customer assistance. In some embodiments, amotorized transport unit providing customer assistance at a shoppingfacility, comprises: a transceiver configured to wirelessly receivecommunications from a remote central computer system; a control circuitcoupled with the transceiver; a motorized wheel system controlled by thecontrol circuit; a lift system controlled by the control circuit; and amemory coupled to the control circuit and storing computer instructionsthat when executed by the control circuit cause the control circuit to:activate the motorized wheel system, while continuing to monitorlocation information, to position the motorized transport unit under theitem container and aligned, based on the location information, relativeto a frame of the item container, wherein the item container is one of aplurality of item containers that are usable by customers and configuredto be moved by customers through the shopping facility; and activate thelift system to lift on the frame of the item container lifting a firstportion of the item container such one or more wheels of the itemcontainer are lifted off of a floor while two or more other wheels ofthe item container remain in contact with the floor.

In some embodiments, the control circuit is further configured toactivate the motorized wheel system, in accordance with shopping routeinstructions received from the central computer system, to drive theitem container through the shopping facility along a shopping routewhile the two or more other wheels of the item container continue to bein contact with the floor and supporting a portion of the weight of theitem container and products placed into the item container. In someembodiments, the motorized transport unit further comprises: actuatableclamps controlled by the control circuit; and wherein the controlcircuit, in response to positioning the motorized transport unit underthe item container and aligned relative to the frame of the itemcontainer, is further configured to activate the clamps to engage andremovably clamp to the frame of the item container and temporarilysecure the motorized transport unit with the item container. In someembodiments, the motorized transport unit further comprises: one or morewireless tag sensors coupled with the control circuit; wherein thecontrol circuit is further configured to receive, from the one or moretag sensors, the location information comprising tag locationinformation wirelessly detected from multiple different wireless tagspositioned at different positions on the item container, and to identifya location and orientation of the item container relative to themotorized transport unit based on the tag location information detectedby the one or more wireless tag sensors. In some embodiments, thecontrol circuit is further configured to: wirelessly receive positioningroute instructions from the central computer system; and activate themotorized wheel system to move the motorized transport unit through atleast a portion of the shopping facility and to position the motorizedtransport unit, in accordance with the positioning route instructions,proximate the movable item container such that the one or more tagsensors are capable of sensing at least one of the wireless tags on theitem container. In some embodiments, the motorized transport unitfurther comprises: one or more traction sensors cooperated with themotorized wheel system and configured to detect a reduction in tractionof one or more wheels of the motorized wheel system; wherein the controlcircuit is coupled with the one or more traction sensors, and furtherconfigured to activate the lift system to adjust a lift height of oneside of the item container relative to the one or more wheelscorresponding to the detected reduction in traction to increase weighton the one or more wheels relative to other wheels of the motorizedwheel system. In some embodiments, the lift system comprises a pluralityof hydraulic lifts that are spaced relative to each other and uponactivation lift the one or more wheels of the item container off of thefloor. In some embodiments, the motorized transport unit furthercomprises: a body having a top portion and a bottom portion; wherein thehydraulic lifts cooperate with at least the top portion such that whenactivated cause the top portion to lift relative to the bottom portionand lifting the first portion of the item container. In someembodiments, the motorized transport unit further comprises: a pair ofarms that are rotatably cooperated with a body of the motorizedtransport unit; wherein at least one of the actuatable clamps ispositioned on each of the arms such that the arm are rotated to positionthe clamps relative to the frame of the item container.

In some embodiments, a method of providing customer assistance at ashopping facility, comprises: by a control circuit: activating amotorized wheel system of a motorized transport unit, while continuingto monitor location information, to position the motorized transportunit under the item container and aligned, based on the locationinformation, relative to a frame of the item container, wherein the itemcontainer is one of a plurality of item containers that are usable bycustomers and configured to be moved by customers through a shoppingfacility; activating a lift system to lift on the frame of the itemcontainer lifting a first portion of the item container such that one ormore wheels of the item container are lifted off of a floor while two ormore other wheels of the item container remain in contact with thefloor.

In some embodiments, the method further comprises: activating themotorized wheel system, in accordance with shopping route instructionsreceived from the central computer system, to drive the item containerthrough the shopping facility along a shopping route while the two ormore other wheels of the item container continue to be in contact withthe floor and supporting a portion of the weight of the item containerand products placed into the item container. In some embodiments, themethod further comprises: activating, in response to positioning themotorized transport unit under the item container and aligned relativeto the frame of the item container, actuatable clamps to engage andremovably clamp to the frame of the item container and temporarilysecure the motorized transport unit with the item container. In someembodiments, the method further comprises: receiving, from one or morewireless tag sensors of the motorized transport unit, the locationinformation comprising tag location information wirelessly detected frommultiple different wireless tags positioned at different positions onthe item container; and identifying a location and orientation of theitem container relative to the motorized transport unit based on the taglocation information detected by the one or more wireless tag sensors.In some embodiments, the method further comprises: wirelessly receivingpositioning route instructions from the central computer system; andactivating the motorized wheel system to move the motorized transportunit through at least a portion of the shopping facility and to positionthe motorized transport unit, in accordance with the positioning routeinstructions, proximate the movable item container such that the one ormore tag sensors are capable of sensing at least one of the wirelesstags on the item container. In some embodiments, the method furthercomprises: receiving, from one or more traction sensors cooperated withthe motorized wheel system, traction sensor data indicating a reductionin traction of one or more wheels of the motorized wheel system;activating the lift system to adjust a lift height of one side of theitem container relative to the one or more wheels corresponding to thedetected reduction in traction to increase weight on the one or morewheels relative to other wheels of the motorized wheel system. In someembodiments, the activating the lift system comprises activating each ofa plurality of hydraulic lifts that are spaced relative to each other tocause, upon activation, the lifting the one or more wheels of the itemcontainer off of the floor. In some embodiments, the lift system iscooperated with a top portion of a body of the motorized transport unit;and wherein the activating the hydraulic lifts comprises lifting a topportion of the motorized transport unit relative to a bottom portion andlifting the first portion of the item container. In some embodiments,the method further comprises: rotating a pair of arms that are rotatablycooperated with a body of the motorized transport unit, wherein the atleast one claim is positioned on each of the arms; and positioning theclamp, based on the rotation of the arms, relative to the frame; whereinthe activating the clamps comprises activating the clamps when rotatedinto position relative to the frame of the item container through therotation of the arms.

In some embodiments, a motorized transport unit providing customerassistance at a shopping facility, comprises: a transceiver configuredto wirelessly receive communications from a remote central computersystem; a control circuit coupled with the transceiver; a motorizedwheel system controlled by the control circuit; a lift system controlledby the control circuit; and a memory coupled to the control circuit andstoring computer instructions that when executed by the control circuitcause the control circuit to: activate the motorized wheel system, whilecontinuing to monitor location information, to position the motorizedtransport unit under the item container and aligned, based on thelocation information, relative to a frame of the item container, whereinthe item container is one of a plurality of item containers that areusable by customers and configured to be moved by customers through theshopping facility; and activate the lift system to lift on the frame ofthe item container lifting a first portion of the item container suchone or more wheels of the item container are lifted off of a floor whiletwo or more other wheels of the item container remain in contact withthe floor.

In some embodiments, a method of providing customer assistance at ashopping facility, comprises: by a control circuit: activating amotorized wheel system of a motorized transport unit, while continuingto monitor location information, to position the motorized transportunit under the item container and aligned, based on the locationinformation, relative to a frame of the item container, wherein the itemcontainer is one of a plurality of item containers that are usable bycustomers and configured to be moved by customers through a shoppingfacility; activating a lift system to lift on the frame of the itemcontainer lifting a first portion of the item container such that one ormore wheels of the item container are lifted off of a floor while two ormore other wheels of the item container remain in contact with thefloor.

Those skilled in the art will recognize that a wide variety ofmodifications, alterations, and combinations can be made with respect tothe above described embodiments without departing from the scope of theinvention, and that such modifications, alterations, and combinationsare to be viewed as being within the ambit of the inventive concept.

What is claimed is:
 1. A retail facility assistance system comprising: aplurality of motorized transport units located in and configured to movethrough a retail facility space; and a central computer systemcomprising a network interface, wherein the central computer system isconfigured to: identify a first motorized transport unit, of a pluralityof motorized transport units, based on a location of the first motorizedtransport unit within a three dimensional grid of the retail facilityspace and a known location within the three dimensional grid of a firstmovable item container; temporarily associate the first motorizedtransport unit of the plurality of motorized transport units with a userinterface unit that is associated with a customer; identify a locationassociated with the user interface unit that is associated with thecustomer; and wirelessly communicate, through the network interface,location information based on the three dimensional grid of the retailfacility space to the first motorized transport unit to control movementof the first motorized transport unit through the retail facility spacedirecting the first motorized transport unit to the known location ofthe first movable item container to retrieve the first movable itemcontainer, and from the known location of the first movable itemcontainer to the location associated with the user interface unit basedat least in part on an input from the user interface unit that istemporarily associated with the first motorized transport unit.
 2. Thesystem of claim 1, wherein at least the first motorized transport unitis configured to detachably connect to the first movable item container,and the first motorized transport unit is configured to move the firstmovable item container through the retail facility space to the locationassociated with the user interface unit in transporting the firstmovable item container.
 3. The system of claim 2, wherein the firstmotorized transport unit is configured to move to a position underneaththe first movable item container to engage the first movable itemcontainer and support at least a portion of the first movable itemcontainer while transporting the first movable item container to thelocation associated with the user interface unit.
 4. The system of claim2, wherein the three dimensional grid defines three dimensional mappinglocations comprising the known location within the three dimensionalgrid of the retail facility space of the first movable item container,and the first motorized transport unit is configured to route throughthe retail facility space based on the location information inaccordance with three dimensional coordinates of the three dimensionalgrid.
 5. The system of claim 1, further comprising: a location controlunit; wherein each of the plurality of motorized transport unitscomprises at least one light receiver; and wherein the location controlunit is configured to determine the location of at least the firstmotorized transport unit, of the plurality of motorized transport units,in the retail facility space based at least on information obtained fromlight detected by the at least one light receiver of the first motorizedtransport unit.
 6. The system of claim 5, further comprising: aplurality of light sources distributed throughout the retail facilityspace and configured to emit light signals encoding the informationcomprising a light source identifier.
 7. The system of claim 1, whereinthe location information is configured to direct the first motorizedtransport unit to an exterior area of the retail facility space.
 8. Thesystem of claim 1, wherein the first motorized transport unit isconfigured to follow the customer while the first motorized transportunit is temporarily associated with the user interface unit that isassociated with the customer.
 9. The system of claim 1, wherein thecentral computer system is configured to identify that a route istemporarily inaccessible, and communicate instructions to the firstmotorized transport unit to reroute the first motorized transport unit.10. The system of claim 1, wherein the central computer system isconfigured to automatically generate a travel route of the firstmotorized transport unit through the retail facility space based onproduct availability information.
 11. The system of claim 1, wherein thecentral computer system is configured to process a request from thecustomer through the user interface unit, identify an availability ofthe first motorized transport unit based on the location of the firstmotorized transport unit and the location associated with the userinterface unit.
 12. A motorized transport unit to provide retailfacility assistance comprising: a housing; a locomotion systemconfigured to enable movement of the motorized transport unit through aretail facility space; a power source; a wireless transceiver; and acontrol unit coupled to the locomotion system, the power source and thewireless transceiver, wherein the control unit is configured to:communicate with one or both of a central computer system of a retailfacility assistance system and a user interface unit that is temporarilyassociated with the motorized transport unit, wherein the user interfaceunit is at least temporarily associated with a customer; and controlmovement of the motorized transport unit based on a three dimensionalgrid of the retail facility space and a known location within the threedimensional grid of a first movable item container to be retrieved bythe first movable item container, and from the known location of thefirst movable item container to a location associated with the userinterface unit based at least on an input from the user interface unitthat is temporarily associated with the motorized transport unit. 13.The motorized transport unit of claim 12, wherein the control unit isconfigured to detachably connect the motorized transport unit with thefirst movable item container and move the first movable item containerthrough the retail facility space to the location associated with theuser interface unit.
 14. The motorized transport unit of claim 13,wherein the control unit in causing the detachable connection of themotorized transport unit with the first movable item container isconfigured to control the motorized transport unit to move to a positionunderneath the first movable item container to engage the first movableitem container and lift at least a portion of the first movable itemcontainer while transporting the first movable item container to thelocation associated with the user interface unit.
 15. A method of retailfacility assistance comprising: identifying a first motorized transportunit, of a plurality of motorized transport units, based on a locationof the first motorized transport unit within a three dimensional grid ofa facility space and a known location within the three dimensional gridof a first movable item container; temporarily associating the firstmotorized transport unit with a user interface unit that is associatedwith a customer; identifying a location associated with the userinterface unit that is associated with the customer; and wirelesslycommunicating location information based on the three dimensional gridof the facility space to the first motorized transport unit to controlmovement of the first motorized transport unit through the facilityspace directing the first motorized transport unit to the known locationof the first movable item container to retrieve the first movable itemcontainer, and from the known location of the first movable itemcontainer to the location associated with the user interface unit basedat least on an input from the user interface unit.
 16. The method ofclaim 15, further comprising: communicating one or more firstinstructions to cause the first motorized transport unit to move to thefirst movable item container and to detachably connect to the firstmovable item container.
 17. The method of claim 16, wherein thecommunicating the one or more first instructions comprises communicatingthe one or more first instructions causing the first motorized transportunit to move to a position underneath the first movable item containerto support at least a portion of the first movable item container whiletransporting the first movable item container to the location associatedwith the user interface unit.
 18. The method of claim 15, wherein thethree dimensional grid defines three dimensional mapping locationscomprising the known location within the three dimensional grid of thefacility space of the first movable item container, and the firstmotorized transport unit is routed through the facility space based onthe location information in accordance with three dimensionalcoordinates of the three dimensional grid.
 19. The method of claim 15,further comprising: identifying that a route is temporarilyinaccessible; and communicating instructions to the first motorizedtransport unit to reroute the first motorized transport unit based onthe temporary inaccessibility.
 20. The method of claim 15, furthercomprising: generating, by a central computer system, control signalsbased on and commands received from the user interface unit; and whereinthe controlling the movement of the first motorized transport unitcomprises communicating, by the central computer system, the controlsignals to control the movement of the first motorized transport unit.